Tracking-Based Visibility Estimation

  • Stephan LenorEmail author
  • Johannes Martini
  • Bernd Jähne
  • Ulrich Stopper
  • Stefan Weber
  • Florian Ohr
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8753)


Assessing atmospheric visibility conditions is a challenging and increasingly important task not only in the context of video-based driver assistance systems. As a commonly used quantity, meteorological visibility describes the visual range for observations through scattering and absorbing aerosols such as fog or smog.

We present a novel algorithm for estimating meteorological visibility based on object tracks in camera images. To achieve this, we introduce a likelihood objective function based on Koschmieder’s model for horizontal vision to derive the atmospheric extinction coefficient from the objects’ luminances and distances provided by the tracking. To make this algorithm applicable for real-time purposes, we propose an easy-to-implement and extremely fast minimization method which clearly outperforms classical methods such as Levenberg-Marquardt. Our approach is tested with promising results on real-world sequences recorded with a commercial driver assistance camera as well as on artificial images generated by Monte-Carlo simulations.


Object Track Driver Assistance System Scatter Phase Function Horizontal Vision Electronic Stability Control 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Stephan Lenor
    • 1
    • 2
    Email author
  • Johannes Martini
    • 2
  • Bernd Jähne
    • 1
  • Ulrich Stopper
    • 2
  • Stefan Weber
    • 2
  • Florian Ohr
    • 2
  1. 1.Heidelberg Collaboratory for Image ProcessingUniversity of HeidelbergHeidelbergGermany
  2. 2.Robert Bosch GmbHLeonbergGermany

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