Fractional Multiscale Fusion-based De-hazing

This report presents the results of a proposed multi-scale fusion-based single image de-hazing algorithm, which can also be used for underwater image enhancement. Furthermore, the algorithm was designed for very fast operation and minimal run-time. The proposed scheme is the faster than existing algorithms for both de-hazing and underwater image enhancement and amenable to digital hardware implementation. Results indicate mostly consistent and good results for both categories of images when compared with other algorithms from the literature.Comment: 23 pages, 13 figures, 2 table

O-HAZE: a dehazing benchmark with real hazy and haze-free outdoor images

Haze removal or dehazing is a challenging ill-posed problem that has drawn a significant attention in the last few years. Despite this growing interest, the scientific community is still lacking a reference dataset to evaluate objectively and quantitatively the performance of proposed dehazing methods. The few datasets that are currently considered, both for assessment and training of learning-based dehazing techniques, exclusively rely on synthetic hazy images. To address this limitation, we introduce the first outdoor scenes database (named O-HAZE) composed of pairs of real hazy and corresponding haze-free images. In practice, hazy images have been captured in presence of real haze, generated by professional haze machines, and OHAZE contains 45 different outdoor scenes depicting the same visual content recorded in haze-free and hazy conditions, under the same illumination parameters. To illustrate its usefulness, O-HAZE is used to compare a representative set of state-of-the-art dehazing techniques, using traditional image quality metrics such as PSNR, SSIM and CIEDE2000. This reveals the limitations of current techniques, and questions some of their underlying assumptions.Comment: arXiv admin note: text overlap with arXiv:1804.0509

When Autonomous Systems Meet Accuracy and Transferability through AI: A Survey

With widespread applications of artificial intelligence (AI), the capabilities of the perception, understanding, decision-making and control for autonomous systems have improved significantly in the past years. When autonomous systems consider the performance of accuracy and transferability, several AI methods, like adversarial learning, reinforcement learning (RL) and meta-learning, show their powerful performance. Here, we review the learning-based approaches in autonomous systems from the perspectives of accuracy and transferability. Accuracy means that a well-trained model shows good results during the testing phase, in which the testing set shares a same task or a data distribution with the training set. Transferability means that when a well-trained model is transferred to other testing domains, the accuracy is still good. Firstly, we introduce some basic concepts of transfer learning and then present some preliminaries of adversarial learning, RL and meta-learning. Secondly, we focus on reviewing the accuracy or transferability or both of them to show the advantages of adversarial learning, like generative adversarial networks (GANs), in typical computer vision tasks in autonomous systems, including image style transfer, image superresolution, image deblurring/dehazing/rain removal, semantic segmentation, depth estimation, pedestrian detection and person re-identification (re-ID). Then, we further review the performance of RL and meta-learning from the aspects of accuracy or transferability or both of them in autonomous systems, involving pedestrian tracking, robot navigation and robotic manipulation. Finally, we discuss several challenges and future topics for using adversarial learning, RL and meta-learning in autonomous systems

Improved underwater image enhancement algorithms based on partial differential equations (PDEs)

The experimental results of improved underwater image enhancement algorithms based on partial differential equations (PDEs) are presented in this report. This second work extends the study of previous work and incorporating several improvements into the revised algorithm. Experiments show the evidence of the improvements when compared to previously proposed approaches and other conventional algorithms found in the literature.Comment: 22 pages, 6 figure

Underwater Single Image Color Restoration Using Haze-Lines and a New Quantitative Dataset

Underwater images suffer from color distortion and low contrast, because light is attenuated while it propagates through water. Attenuation under water varies with wavelength, unlike terrestrial images where attenuation is assumed to be spectrally uniform. The attenuation depends both on the water body and the 3D structure of the scene, making color restoration difficult. Unlike existing single underwater image enhancement techniques, our method takes into account multiple spectral profiles of different water types. By estimating just two additional global parameters: the attenuation ratios of the blue-red and blue-green color channels, the problem is reduced to single image dehazing, where all color channels have the same attenuation coefficients. Since the water type is unknown, we evaluate different parameters out of an existing library of water types. Each type leads to a different restored image and the best result is automatically chosen based on color distribution. We collected a dataset of images taken in different locations with varying water properties, showing color charts in the scenes. Moreover, to obtain ground truth, the 3D structure of the scene was calculated based on stereo imaging. This dataset enables a quantitative evaluation of restoration algorithms on natural images and shows the advantage of our method

The Next Best Underwater View

To image in high resolution large and occlusion-prone scenes, a camera must move above and around. Degradation of visibility due to geometric occlusions and distances is exacerbated by scattering, when the scene is in a participating medium. Moreover, underwater and in other media, artificial lighting is needed. Overall, data quality depends on the observed surface, medium and the time-varying poses of the camera and light source. This work proposes to optimize camera/light poses as they move, so that the surface is scanned efficiently and the descattered recovery has the highest quality. The work generalizes the next best view concept of robot vision to scattering media and cooperative movable lighting. It also extends descattering to platforms that move optimally. The optimization criterion is information gain, taken from information theory. We exploit the existence of a prior rough 3D model, since underwater such a model is routinely obtained using sonar. We demonstrate this principle in a scaled-down setup

Joint Defogging and Demosaicking

Image defogging is a technique used extensively for enhancing visual quality of images in bad weather condition. Even though defogging algorithms have been well studied, defogging performance is degraded by demosaicking artifacts and sensor noise amplification in distant scenes. In order to improve visual quality of restored images, we propose a novel approach to perform defogging and demosaicking simultaneously. We conclude that better defogging performance with fewer artifacts can be achieved when a defogging algorithm is combined with a demosaicking algorithm simultaneously. We also demonstrate that the proposed joint algorithm has the benefit of suppressing noise amplification in distant scene. In addition, we validate our theoretical analysis and observations for both synthesized datasets with ground truth fog-free images and natural scene datasets captured in a raw format

Sky detection and log illumination refinement for PDE-based hazy image contrast enhancement

This report presents the results of a sky detection technique used to improve the performance of a previously developed partial differential equation (PDE)-based hazy image enhancement algorithm. Additionally, a proposed alternative method utilizes a function for log illumination refinement to improve de-hazing results while avoiding over-enhancement of sky or homogeneous regions. The algorithms were tested with several benchmark and calibration images and compared with several standard algorithms from the literature. Results indicate that the algorithms yield mostly consistent results and surpasses several of the other algorithms in terms of colour and contrast enhancement in addition to improved edge visibility.Comment: 22 pages, 13 figures, 5 table

Measuring Visibility using Atmospheric Transmission and Digital Surface Model

Reliable and exact assessment of visibility is essential for safe air traffic. In order to overcome the drawbacks of the currently subjective reports from human observers, we present an approach to automatically derive visibility measures by means of image processing. It first exploits image based estimation of the atmospheric transmission describing the portion of the light that is not scattered by atmospheric phenomena (e.g., haze, fog, smoke) and reaches the camera. Once the atmospheric transmission is estimated, a 3D representation of the vicinity (digital surface model: DMS) is used to compute depth measurements for the haze-free pixels and then derive a global visibility estimation for the airport. Results on foggy images demonstrate the validity of the proposed method.Comment: Presented at OAGM Workshop, 2015 (arXiv:1505.01065

Deep Dense Multi-scale Network for Snow Removal Using Semantic and Geometric Priors

Images captured in snowy days suffer from noticeable degradation of scene visibility, which degenerates the performance of current vision-based intelligent systems. Removing snow from images thus is an important topic in computer vision. In this paper, we propose a Deep Dense Multi-Scale Network (\textbf{DDMSNet}) for snow removal by exploiting semantic and geometric priors. As images captured in outdoor often share similar scenes and their visibility varies with depth from camera, such semantic and geometric information provides a strong prior for snowy image restoration. We incorporate the semantic and geometric maps as input and learn the semantic-aware and geometry-aware representation to remove snow. In particular, we first create a coarse network to remove snow from the input images. Then, the coarsely desnowed images are fed into another network to obtain the semantic and geometric labels. Finally, we design a DDMSNet to learn semantic-aware and geometry-aware representation via a self-attention mechanism to produce the final clean images. Experiments evaluated on public synthetic and real-world snowy images verify the superiority of the proposed method, offering better results both quantitatively and qualitatively