This work addresses the problem of semantic scene understanding under dense fog. Although considerable progress has been made in semantic scene understanding, it is mainly related to clear-weather scenes. Extending recognition methods to adverse weather conditions such as fog is crucial for outdoor applications. In this paper, we propose a novel method, named Curriculum Model Adaptation (CMAda), which gradually adapts a semantic segmentation model from light synthetic fog to dense real fog in multiple steps, using both synthetic and real foggy data. In addition, we present three other main stand-alone contributions: 1) a novel method to add synthetic fog to real, clear-weather scenes using semantic input; 2) a new fog density estimator; 3) the Foggy Zurich dataset comprising @math real foggy images, with pixel-level semantic annotations for @math images with dense fog. Our experiments show that 1) our fog simulation slightly outperforms a state-of-the-art competing simulation with respect to the task of semantic foggy scene understanding (SFSU); 2) CMAda improves the performance of state-of-the-art models for SFSU significantly by leveraging unlabeled real foggy data. The datasets and code are publicly available.
Fog fades the color of observed objects and reduces their contrast. Extensive research has been conducted on image defogging (dehazing) to increase the visibility of foggy scenes @cite_28 @cite_36 @cite_38 @cite_20 @cite_56 @cite_1 @cite_42 . Certain works focus particularly on enhancing foggy road scenes @cite_49 @cite_3 . Recent approaches also rely on trainable architectures @cite_29 , which have evolved to end-to-end models @cite_9 @cite_14 . For a comprehensive overview of dehazing algorithms, we point the reader to @cite_32 @cite_43 . Our work is complementary and focuses on semantic foggy scene understanding.
@cite_38 @cite_14 @cite_28 @cite_36 @cite_29 @cite_42 @cite_1 @cite_9 @cite_3 @cite_56 @cite_32 @cite_43 @cite_49 @cite_20
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One source of accidents when driving a vehicle is the presence of homogeneous and heterogeneous fog. Fog fades the colors and reduces the contrast of the observed objects with respect to their distances. Various camera-based Advanced Driver Assistance Systems (ADAS) can be improved if efficient algorithms are designed for visibility enhancement of road images. The visibility enhancement algorithm proposed in [1] is not dedicated to road images and thus it leads to limited quality results on images of this kind. In this paper, we interpret the algorithm in [1] as the inference of the local atmospheric veil subject to two constraints. From this interpretation, we propose an extended algorithm which better handles road images by taking into account that a large part of the image can be assumed to be a planar road. The advantages of the proposed local algorithm are its speed, the possibility to handle both color images or gray-level images, and its small number of parameters. A comparative study and quantitative evaluation with other state-of-the-art algorithms is proposed on synthetic images with several types of generated fog. This evaluation demonstrates that the new algorithm produces similar quality results with homogeneous fog and that it is able to better deal with the presence of heterogeneous fog. One source of accidents when driving a vehicle is the presence of fog. Fog fades the colors and reduces the contrasts in the scene with respect to their distances from the driver. Various camera-based Advanced Driver Assistance Systems (ADAS) can be improved if efficient algorithms are designed for visibility enhancement in road images. The visibility enhancement algorithm proposed in [1] is not optimized for road images. In this paper, we reformulate the problem as the inference of the local atmospheric veil from constraints. The algorithm in [1] thus becomes a particular case. From this new derivation, we propose to better handle road images by introducing an extra constraint taking into account that a large part of the image can be assumed to be a planar road. The advantages of the proposed local algorithm are the speed, the possibility to handle both color and gray-level images, and the small number of parameters. A new scheme is proposed for rating visibility enhancement algorithms based on the addition of several types of generated fog on synthetic and camera images. A comparative study and quantitative evaluation with other state-of-the-art algorithms is thus proposed. This evaluation demonstrates that the new algorithm produces better results with homogeneous fog and that it is able to deal better with the presence of heterogeneous fog. Finally, we also propose a model allowing to evaluate the potential safety benefit of an ADAS based on the display of defogged images. We propose a referenceless perceptual fog density prediction model based on natural scene statistics (NSS) and fog aware statistical features. The proposed model, called Fog Aware Density Evaluator (FADE), predicts the visibility of a foggy scene from a single image without reference to a corresponding fog-free image, without dependence on salient objects in a scene, without side geographical camera information, without estimating a depth-dependent transmission map, and without training on human-rated judgments. FADE only makes use of measurable deviations from statistical regularities observed in natural foggy and fog-free images. Fog aware statistical features that define the perceptual fog density index derive from a space domain NSS model and the observed characteristics of foggy images. FADE not only predicts perceptual fog density for the entire image, but also provides a local fog density index for each patch. The predicted fog density using FADE correlates well with human judgments of fog density taken in a subjective study on a large foggy image database. As applications, FADE not only accurately assesses the performance of defogging algorithms designed to enhance the visibility of foggy images, but also is well suited for image defogging. A new FADE-based referenceless perceptual image defogging, dubbed DEnsity of Fog Assessment-based DEfogger (DEFADE) achieves better results for darker, denser foggy images as well as on standard foggy images than the state of the art defogging methods. A software release of FADE and DEFADE is available online for public use: http: live.ece.utexas.edu research fog index.html . This work addresses the problem of semantic foggy scene understanding (SFSU). Although extensive research has been performed on image dehazing and on semantic scene understanding with clear-weather images, little attention has been paid to SFSU. Due to the difficulty of collecting and annotating foggy images, we choose to generate synthetic fog on real images that depict clear-weather outdoor scenes, and then leverage these partially synthetic data for SFSU by employing state-of-the-art convolutional neural networks (CNN). In particular, a complete pipeline to add synthetic fog to real, clear-weather images using incomplete depth information is developed. We apply our fog synthesis on the Cityscapes dataset and generate Foggy Cityscapes with 20,550 images. SFSU is tackled in two ways: (1) with typical supervised learning, and (2) with a novel type of semi-supervised learning, which combines (1) with an unsupervised supervision transfer from clear-weather images to their synthetic foggy counterparts. In addition, we carefully study the usefulness of image dehazing for SFSU. For evaluation, we present Foggy Driving, a dataset with 101 real-world images depicting foggy driving scenes, which come with ground truth annotations for semantic segmentation and object detection. Extensive experiments show that (1) supervised learning with our synthetic data significantly improves the performance of state-of-the-art CNN for SFSU on Foggy Driving; (2) our semi-supervised learning strategy further improves performance; and (3) image dehazing marginally advances SFSU with our learning strategy. The datasets, models and code are made publicly available.