Using Stereo Depth Estimation Network and LiDAR-Assisted Camera for Dehazing

Abstract

Dehazing research is crucial to ensuring the safety of autonomous driving. To estimate the scattering coefficient of the scene, we use the point cloud produced by LiDAR. To acquire a more precise scene depth, we employ a stereo depth network. Finally, we dehaze the image using the transmission map of the atmospheric scattering model and the atmospheric light value. Experimental results show that the proposed dehazing method works better in object detection than previous dehazing methods.