System and method for estimating daytime visibility

摘要

A system for estimating daytime visibility conditions includes a camera configured to capture a video sequence over a period time, an odometry sensor configured to monitor motion of the camera, and a video processing unit in communication with the camera and with the odometry sensor. The video processing unit is configured to receive the video sequence from the camera, detect an object within the video sequence, estimate a distance between the camera and the object for each frame of the video sequence, determine a mean perceived brightness of the object for each image frame, and estimate an ambient visibility using the estimated distance and mean perceived brightness of the object.

主权项

1. A system for estimating daytime visibility conditions comprising:
a camera configured to capture a video sequence over a period of time, the video sequence including a plurality of image frames; an odometry sensor configured to monitor motion of the camera and output odometry data indicative of the monitored motion; a video processing unit in communication with the camera and with the odometry sensor, the video processing unit configured to:
receive the video sequence from the camera;detect an object within the video sequence;estimate a distance between the camera and the object for each of the plurality of image frames;determine a mean perceived brightness of the object for each of the plurality of image frames; andestimate an ambient visibility by:
assembling a plurality of point pairs, each point pair including an estimated distance of the object and a determined mean perceived brightness of the object, and corresponding to the object in a different respective one of the plurality of image frames;fitting a curve to the plurality of point pairs, the curve based on a range-dependent object brightness model; anddetermining a scattering coefficient from the fitted curve, wherein the scattering coefficient is indicative of an estimate of ambient visibility.