LIASM-NRID: Constructing an atmospheric scattering model for low-light conditions and dehazing nighttime road images

Abstract

Dehazing of nighttime road images holds significant practical relevance for autonomous driving and intelligent transportation systems operating in nocturnal conditions. To address the limitations of traditional atmospheric scattering models in accurately describing the imaging process in low illumination environments such as nighttime, this study constructs a low illumination environment atmospheric scattering model. Based on this newly constructed model, we propose an algorithm specifically designed for dehazing road images at nighttime. The proposed model incorporates an incident light attenuation factor, an additive noise factor, and a global compensation factor related to the scene's depth. The proposed nighttime road image dehazing algorithm firstly suppresses the interference of additive noise in the original image using wavelet decomposition and soft thresholding operation. Then, a transmittance-solving method containing the primary structural information of the image is designed based on the color attenuation linear model, and the solved transmittance is refined based on the interval gradient image texture structure method. Consequently, the global light map estimation process is formulated as an optimization problem to ensure the accuracy of the atmospheric light value calculation. In the final stages, a novel RGB color equalization method is introduced to address the issue of non-uniform incident light color bias in the dehazed images. Additionally, to eliminate the halo problem in the dehazed images, the adaptive histogram equalization algorithm is modified by incorporating a normalized gamma correction function. The experimental results show that the proposed nighttime road image dehazing algorithm exhibits robust performance and generality across various nighttime scenes. Compared with the representative algorithms for nighttime image dehazing, it can get more excellent dehazing results and has more outstanding performance in all numerical evaluation indexes.