“…Blackwell [ 5 ] explored observed threshold values of human eyes on account of a subjective observation method later. Based on [ 4 , 5 ], different kind of vision-based methods of visibility estimation are presented, such as the exploratory studies in the early stages [ 6 , 7 , 8 ], the luminance curves models [ 9 , 10 , 11 , 12 ], image contrast models [ 13 , 14 , 15 , 16 , 17 ], road sign models [ 18 , 19 , 20 , 21 , 22 , 23 ], regression models [ 24 , 25 ], etc. However, regarding practical applications, the current vision based methods are facing some challenges: (1) How should different visibility situations be handled?…”