雨天天气显著降低了场景物体的可见度，尤其是当图像通过户外相机镜头或挡风玻璃拍摄时。通过对大量雨天照片的仔细观察，我们发现图像通常受到雨滴、雨条和雨雾等多种雨水伪影的影响，这些伪影从近处和远处影响图像质量，导致图像退化过程复杂且相互交织。然而，当前的除雨技术在能力上仅限于处理一种或两种类型的雨水，这给去除混合雨水（MOR）带来了挑战。在本研究中，我们提出了一种有效的图像除雨范式用于混合雨水去除（Mixture of rain REmoval），称为DEMore-Net，它充分考虑了MOR效应。超越现有的除雨智慧，DEMore-Net是一种联合学习范式，它整合了深度估计和MOR去除任务，以实现更优的除雨效果。深度信息可以提供基于距离的额外有意义指导信息，从而更好地帮助DEMore-Net去除不同类型的雨水。此外，本研究探索了图像除雨任务中的归一化方法，并引入了一种新的混合归一化块（HNB）来增强DEMore-Net的除雨性能。在合成数据集和真实世界MOR照片上进行的广泛实验充分验证了所提出的DEMore-Net的优越性。代码可在https://github.com/yz-wang/DEMore-Net获取。
英文摘要：
Rainy weather significantly deteriorates the visibility of scene objects, particularly when images are captured through outdoor camera lenses or windshields. Through careful observation of numerous rainy photos, we have found that the images are generally affected by various rainwater artifacts such as raindrops, rain streaks, and rainy haze, which impact the image quality from both near and far distances, resulting in a complex and intertwined process of image degradation. However, current deraining techniques are limited in their ability to address only one or two types of rainwater, which poses a challenge in removing the mixture of rain (MOR). In this study, we propose an effective image deraining paradigm for Mixture of rain REmoval, called DEMore-Net, which takes full account of the MOR effect. Going beyond the existing deraining wisdom, DEMore-Net is a joint learning paradigm that integrates depth estimation and MOR removal tasks to achieve superior rain removal. The depth information can offer additional meaningful guidance information based on distance, thus better helping DEMore-Net remove different types of rainwater. Moreover, this study explores normalization approaches in image deraining tasks and introduces a new Hybrid Normalization Block (HNB) to enhance the deraining performance of DEMore-Net. Extensive experiments conducted on synthetic datasets and real-world MOR photos fully validate the superiority of the proposed DEMore-Net. Code is available at https://github.com/yz-wang/DEMore-Net.
Jiangnan University（江南大学）；Jiangsu University（江苏大学）；City University of Hong Kong（香港城市大学）
Existing deraining methods focus mainly on a single input image. However, with just a single input image, it is extremely difficult to accurately detect and remove rain streaks, in order to restore a rain-free image. In contrast, a light field image (LFI) embeds abundant 3D structure and texture information of the target scene by recording the direction and position of each incident ray via a plenoptic camera. LFIs are becoming popular in the computer vision and graphics communities. However, making full use of the abundant information available from LFIs, such as 2D array of sub-views and the…
Varying weather conditions, including rainfall and snowfall, are generally regarded as a challenge for computer vision algorithms. One proposed solution to the challenges induced by rain and snowfall is to artificially remove the rain from images or video using rain removal algorithms. It is the promise of these algorithms that the rain-removed image frames will improve the performance of subsequent segmentation and tracking algorithms. However, rain removal algorithms are typically evaluated on their ability to remove synthetic rain on a small subset of images. Currently, their behavior is un…
This paper introduces a new rain removal model based on the shrinkage of the sparse codes for a single image. Recently, dictionary learning and sparse coding have been widely used for image restoration problems. These methods can also be applied to the rain removal by learning two types of rain and non-rain dictionaries and forcing the sparse codes of the rain dictionary to be zero vectors. However, this approach can generate unwanted edge artifacts and detail loss in the non-rain regions. Based on this observation, a new approach for shrinking the sparse codes is presented in this paper. To e…
Removing raindrops in images has been addressed as a significant task for various computer vision applications. In this paper, we propose the first method using a Dual-Pixel (DP) sensor to better address the raindrop removal. Our key observation is that raindrops attached to a glass window yield noticeable disparities in DP's left-half and right-half images, while almost no disparity exists for in-focus backgrounds. Therefore, DP disparities can be utilized for robust raindrop detection. The DP disparities also brings the advantage that the occluded background regions by raindrops are shifted …
University of Electronic Science and Technology of China（电子科技大学）；The Hong Kong University of Science and Technology（香港科技大学）
Rain streaks will inevitably be captured by some outdoor vision systems, which lowers the image visual quality and also interferes various computer vision applications. We present a novel rain removal method in this paper, which consists of two steps, i.e., detection of rain streaks and reconstruction of the rain-removed image. An accurate detection of rain streaks determines the quality of the overall performance. To this end, we first detect rain streaks according to pixel intensities, motivated by the observation that rain streaks often possess higher intensities compared to other neighbori…
Existing methods for single images raindrop removal either have poor robustness or suffer from parameter burdens. In this paper, we propose a new Adjacent Aggregation Network (A^2Net) with lightweight architectures to remove raindrops from single images. Instead of directly cascading convolutional layers, we design an adjacent aggregation architecture to better fuse features for rich representations generation, which can lead to high quality images reconstruction. To further simplify the learning process, we utilize a problem-specific knowledge to force the network focus on the luminance chann…
Nanyang Technological University（南洋理工大学）；City University of Hong Kong（香港城市大学）；Singapore Technologies Dynamics Pte Ltd（新加坡科技动力私人有限公司）
Rain removal is important for improving the robustness of outdoor vision based systems. Current rain removal methods show limitations either for complex dynamic scenes shot from fast moving cameras, or under torrential rain fall with opaque occlusions. We propose a novel derain algorithm, which applies superpixel (SP) segmentation to decompose the scene into depth consistent units. Alignment of scene contents are done at the SP level, which proves to be robust towards rain occlusion and fast camera motion. Two alignment output tensors, i.e., optimal temporal match tensor and sorted spatial-tem…
The recent success of learning-based image rain and noise removal can be attributed primarily to well-designed neural network architectures and large labeled datasets. However, we discover that current image rain and noise removal methods result in low utilization of images. To alleviate the reliance of deep models on large labeled datasets, we propose the task-driven image rain and noise removal (TRNR) based on a patch analysis strategy. The patch analysis strategy samples image patches with various spatial and statistical properties for training and can increase image utilization. Furthermor…
Beijing Institute of Technology（北京理工大学）；University of Amsterdam（阿姆斯特丹大学）；International Digital Economy Academy（国际数字经济学院）
Rain is transparent, which reflects and refracts light in the scene to the camera. In outdoor vision, rain, especially rain streaks degrade visibility and therefore need to be removed. In existing rain streak removal datasets, although density, scale, direction and intensity have been considered, transparency is not fully taken into account. This problem is particularly serious in night scenes, where the appearance of rain largely depends on the interaction with scene illuminations and changes drastically on different positions within the image. This is problematic, because unrealistic dataset…
Huazhong University of Science and Technology（华中科技大学）
Rain removal from a single image is a challenge which has been studied for a long time. In this paper, a novel convolutional neural network based on wavelet and dark channel is proposed. On one hand, we think that rain streaks correspond to high frequency component of the image. Therefore, haar wavelet transform is a good choice to separate the rain streaks and background to some extent. More specifically, the LL subband of a rain image is more inclined to express the background information, while LH, HL, HH subband tend to represent the rain streaks and the edges. On the other hand, the accum…
In this paper, we address a rain removal problem from a single image, even in the presence of heavy rain and rain streak accumulation. Our core ideas lie in the new rain image models and a novel deep learning architecture. We first modify an existing model comprising a rain streak layer and a background layer, by adding a binary map that locates rain streak regions. Second, we create a new model consisting of a component representing rain streak accumulation (where individual streaks cannot be seen, and thus visually similar to mist or fog), and another component representing various shapes an…
Raindrop Clarity: A Dual-Focused Dataset for Day and Night Raindrop Removal
National University of Singapore（新加坡国立大学）；University of Science and Technology of China（中国科学技术大学）；University of Electronic Science and Technology of China（电子科技大学）
UAV-Rain1k: A Benchmark for Raindrop Removal from UAV Aerial Imagery
Shenyang Aerospace University（沈阳航空航天大学）；Naval Aviation University（海军航空大学）；Nanjing University of Science and Technology（南京理工大学）；Zhejiang Ocean University（浙江海洋大学）
Nanjing University of Aeronautics and Astronautics（南京航空航天大学）；The Hong Kong Polytechnic University（香港理工大学）；Lingnan University（岭南大学）
Rain severely hampers the visibility of scene objects when images are captured through glass in heavily rainy days. We observe three intriguing phenomenons that, 1) rain is a mixture of raindrops, rain streaks and rainy haze; 2) the depth from the camera determines the degrees of object visibility, where objects nearby and faraway are visually blocked by rain streaks and rainy haze, respectively; and 3) raindrops on the glass randomly affect the object visibility of the whole image space. We for the first time consider that, the overall visibility of objects is determined by the mixture of rai…
MDeRainNet: An Efficient Macro-pixel Image Rain Removal Network
School of Artificial Intelligence and Computer Science, Jiangnan University（江南大学人工智能与计算机科学学院）；Department of Computer Science, City University of Hong Kong（香港城市大学计算机科学系）
Australian National University（澳大利亚国立大学）；Tencent AI Laboratory（腾讯人工智能实验室）；Institute of Information Engineering, Chinese Academy of Sciences（中国科学院信息工程研究所）
Rain streaks and rain drops are two natural phenomena, which degrade image capture in different ways. Currently, most existing deep deraining networks take them as two distinct problems and individually address one, and thus cannot deal adequately with both simultaneously. To address this, we propose a Dual Attention-in-Attention Model (DAiAM) which includes two DAMs for removing both rain streaks and raindrops. Inside the DAM, there are two attentive maps - each of which attends to the heavy and light rainy regions, respectively, to guide the deraining process differently for applicable regio…
For the single image rain removal (SIRR) task, the performance of deep learning (DL)-based methods is mainly affected by the designed deraining models and training datasets. Most of current state-of-the-art focus on constructing powerful deep models to obtain better deraining results. In this paper, to further improve the deraining performance, we novelly attempt to handle the SIRR task from the perspective of training datasets by exploring a more efficient way to synthesize rainy images. Specifically, we build a full Bayesian generative model for rainy image where the rain layer is parameteri…
Outdoor videos sometimes contain unexpected rain streaks due to the rainy weather, which bring negative effects on subsequent computer vision applications, e.g., video surveillance, object recognition and tracking, etc. In this paper, we propose a directional regularized tensor-based video deraining model by taking into consideration the arbitrary direction of rain streaks. In particular, the sparsity of rain streaks in spatial and derivative domains, the spatiotemporal sparsity and low-rank property of video background are incorporated into the proposed method. Different from many previous me…
Single image rain removal is a typical inverse problem in computer vision. The deep learning technique has been verified to be effective for this task and achieved state-of-the-art performance. However, previous deep learning methods need to pre-collect a large set of image pairs with/without synthesized rain for training, which tends to make the neural network be biased toward learning the specific patterns of the synthesized rain, while be less able to generalize to real test samples whose rain types differ from those in the training data. To this issue, this paper firstly proposes a semi-su…
Nanjing University of Aeronautics and Astronautics（南京航空航天大学）；Lingnan University（岭南大学）；Education University of Hong Kong（香港教育大学）；Hong Kong Metropolitan University（香港都会大学）
Rain is one of the most common weather which can completely degrade the image quality and interfere with the performance of many computer vision tasks, especially under heavy rain conditions. We observe that: (i) rain is a mixture of rain streaks and rainy haze; (ii) the scene depth determines the intensity of rain streaks and the transformation into the rainy haze; (iii) most existing deraining methods are only trained on synthetic rainy images, and hence generalize poorly to the real-world scenes. Motivated by these observations, we propose a new SEMI-supervised Mixture Of rain REmoval Gener…
Fujian Key Laboratory of Sensing and Computing for Smart City, School of Information Science and Engineering, Xiamen University（厦门大学信息科学与技术学院福建省智慧城市感知与计算重点实验室）；Columbia University（哥伦比亚大学）
We introduce a deep network architecture called DerainNet for removing rain streaks from an image. Based on the deep convolutional neural network (CNN), we directly learn the mapping relationship between rainy and clean image detail layers from data. Because we do not possess the ground truth corresponding to real-world rainy images, we synthesize images with rain for training. In contrast to other common strategies that increase depth or breadth of the network, we use image processing domain knowledge to modify the objective function and improve deraining with a modestly-sized CNN. Specifical…
Learning from synthetic photorealistic raindrop for single image raindrop removal
State Key Laboratory of VR Technology and Systems, Beihang University（北京航空航天大学虚拟现实技术与系统国家重点实验室）；Data61-CSIRO（澳大利亚联邦科学与工业研究组织Data61）；Tencent（腾讯）；Australian National University（澳大利亚国立大学）；Peng Cheng Laboratory（鹏城实验室）
Dalian University of Technology（大连理工大学）；Tsinghua University（清华大学）；University of Macau（澳门大学）
Rain removal is an important but challenging computer vision task as rain streaks can severely degrade the visibility of images that may make other visions or multimedia tasks fail to work. Previous works mainly focused on feature extraction and processing or neural network structure, while the current rain removal methods can already achieve remarkable results, training based on single network structure without considering the cross-scale relationship may cause information drop-out. In this paper, we explore the cross-scale manner between networks and inner-scale fusion operation to solve the…
University of Electronic Science and Technology of China（电子科技大学）；Huazhong University of Science and Technology（华中科技大学）
Rain streak removal is an important issue and has recently been investigated extensively. Existing methods, especially the newly emerged deep learning methods, could remove the rain streaks well in many cases. However the essential factor in the generative procedure of the rain streaks, i.e., the motion blur, which leads to the line pattern appearances, were neglected by the deep learning rain streaks approaches and this resulted in over-derain or under-derain results. In this paper, we propose a novel rain streak removal approach using a kernel guided convolutional neural network (KGCNN), ach…
University of Electronic Science and Technology of China（电子科技大学）；Xian Jiaotong University（西安交通大学）
Rain streak removal is an important issue in outdoor vision systems and has recently been investigated extensively. In this paper, we propose a novel video rain streak removal approach FastDeRain, which fully considers the discriminative characteristics of rain streaks and the clean video in the gradient domain. Specifically, on the one hand, rain streaks are sparse and smooth along the direction of the raindrops, whereas on the other hand, clean videos exhibit piecewise smoothness along the rain-perpendicular direction and continuity along the temporal direction. Theses smoothness and continu…
Hefei University of Technology（合肥工业大学）；Zhejiang University（浙江大学）
Stereo images, containing left and right view images with disparity, are utilized in solving low-vision tasks recently, e.g., rain removal and super-resolution. Stereo image restoration methods usually obtain better performance than monocular methods by learning the disparity between dual views either implicitly or explicitly. However, existing stereo rain removal methods still cannot make full use of the complementary information between two views, and we find it is because: 1) the rain streaks have more complex distributions in directions and densities, which severely damage the complementar…
Tianjin University（天津大学）；IIE, Chinese Academy of Sciences（中国科学院信息工程研究所）；Dalian University of Technology（大连理工大学）
Rain effect in images typically is annoying for many multimedia and computer vision tasks. For removing rain effect from a single image, deep leaning techniques have been attracting considerable attentions. This paper designs a novel multi-task leaning architecture in an end-to-end manner to reduce the mapping range from input to output and boost the performance. Concretely, a decomposition net is built to split rain images into clean background and rain layers. Different from previous architectures, our model consists of, besides a component representing the desired clean image, an extra comp…
Xiamen University（厦门大学）；Ryerson University（瑞尔森大学）；Shenyang Institute of Automation, Chinese Academy of Sciences（中国科学院沈阳自动化研究所）
Rain streaks showing in images or videos would severely degrade the performance of computer vision applications. Thus, it is of vital importance to remove rain streaks and facilitate our vision systems. While recent convolutinal neural network based methods have shown promising results in single image rain removal (SIRR), they fail to effectively capture long-range location dependencies or aggregate convolutional channel information simultaneously. However, as SIRR is a highly illposed problem, these spatial and channel information are very important clues to solve SIRR. First, spatial informa…
Huazhong University of Science and Technology（华中科技大学）；Peng Cheng Laboratory（鹏城实验室）
Existing deep learning-based image deraining methods have achieved promising performance for synthetic rainy images, typically rely on the pairs of sharp images and simulated rainy counterparts. However, these methods suffer from significant performance drop when facing the real rain, because of the huge gap between the simplified synthetic rain and the complex real rain. In this work, we argue that the rain generation and removal are the two sides of the same coin and should be tightly coupled. To close the loop, we propose to jointly learn real rain generation and removal procedure within a …
Unified Removal of Raindrops and Reflections: A New Benchmark and A Novel Pipeline
School of Aeronautics and Astronautics, Zhejiang University（浙江大学航空航天学院）；Huanjiang Laboratory（浣江实验室）；Hangzhou Institute of Technology, Xidian University（西安电子科技大学杭州研究院）；The Chinese University of Hong Kong（香港中文大学）
Rain streaks can severely degrade the visibility, which causes many current computer vision algorithms fail to work. So it is necessary to remove the rain from images. We propose a novel deep network architecture based on deep convolutional and recurrent neural networks for single image deraining. As contextual information is very important for rain removal, we first adopt the dilated convolutional neural network to acquire large receptive field. To better fit the rain removal task, we also modify the network. In heavy rain, rain streaks have various directions and shapes, which can be regarde…
Peking University（北京大学）；National University of Singapore（新加坡国立大学）；Yale-NUS College（耶鲁-新加坡国立大学学院）
Raindrops adhered to a glass window or camera lens can severely hamper the visibility of a background scene and degrade an image considerably. In this paper, we address the problem by visually removing raindrops, and thus transforming a raindrop degraded image into a clean one. The problem is intractable, since first the regions occluded by raindrops are not given. Second, the information about the background scene of the occluded regions is completely lost for most part. To resolve the problem, we apply an attentive generative network using adversarial training. Our main idea is to inject vis…
University of Michigan-Shanghai Jiao Tong University Joint Institute（上海交通大学密西根学院）；Shanghai Jiao Tong University（上海交通大学）；Peking University（北京大学）
Temperature difference-induced mist adhered to the glass, such as windshield, camera lens, is often inhomogeneous and obscure, easily obstructing the vision and severely degrading the image. Together with adherent raindrops, they bring considerable challenges to various vision systems but without enough attention. Recent methods for other similar problems typically use hand-crafted priors to generate spatial attention maps. In this work, we newly present a problem of image degradation caused by adherent mist and raindrops. An attentive convolutional network is adopted to visually remove the ad…
The Graduate Center, City University of New York（纽约城市大学研究生中心）；Tufts University（塔夫茨大学）
Images captured in real-world applications in remote sensing, image or video retrieval, and outdoor surveillance suffer degraded quality introduced by poor weather conditions. Conditions such as rain and mist, introduce artifacts that make visual analysis challenging and limit the performance of high-level computer vision methods. For time-critical applications where a rapid response is necessary, it becomes crucial to develop algorithms that automatically remove rain, without diminishing the quality of the image contents. This article aims to develop a novel quaternion multi-stage multiscale …
Rain removal has recently attracted increasing research attention, as it is able to enhance the visibility of rain videos. However, the existing learning based rain removal approaches for videos suffer from insufficient training data, especially when applying deep learning to remove rain. In this paper, we establish a large-scale video database for rain removal (LasVR), which consists of 316 rain videos. Then, we observe from our database that there exist the temporal correlation of clean content and similar patterns of rain across video frames. According to these two observations, we propose …
Yale-NUS College（耶鲁-新加坡国立大学学院）；National University of Singapore（新加坡国立大学）；Northeastern University（东北大学）；Nanyang Technological University（南洋理工大学）
Existing adherent raindrop removal methods focus on the detection of the raindrop locations, and then use inpainting techniques or generative networks to recover the background behind raindrops. Yet, as adherent raindrops are diverse in sizes and appearances, the detection is challenging for both single image and video. Moreover, unlike rain streaks, adherent raindrops tend to cover the same area in several frames. Addressing these problems, our method employs a two-stage video-based raindrop removal method. The first stage is the single image module, which generates initial clean results. The…
Rain streaks might severely degenerate the performance of video/image processing tasks. The investigations on rain removal from video or a single image has thus been attracting much research attention in the field of computer vision and pattern recognition, and various methods have been proposed against this task in the recent years. However, there is still not a comprehensive survey paper to summarize current rain removal methods and fairly compare their generalization performance, and especially, still not a off-the-shelf toolkit to accumulate recent representative methods for easy performan…
Rain removal aims to remove rain streaks from images/videos and reduce the disruptive effects caused by rain. It not only enhances image/video visibility but also allows many computer vision algorithms to function properly. This paper makes the first attempt to conduct a comprehensive study on the robustness of deep learning-based rain removal methods against adversarial attacks. Our study shows that, when the image/video is highly degraded, rain removal methods are more vulnerable to the adversarial attacks as small distortions/perturbations become less noticeable or detectable. In this paper…
Vietnam National Space Center（越南国家空间中心）；Vietnam Academy of Science and Technology（越南科学技术研究院）；Gachon University（嘉泉大学）
Image deraining is a new challenging problem in real-world applications, such as autonomous vehicles. In a bad weather condition of heavy rainfall, raindrops, mainly hitting glasses or windshields, can significantly reduce observation ability. Moreover, raindrops spreading over the glass can yield refraction's physical effect, which seriously impedes the sightline or undermine machine learning systems. In this paper, we propose an enhanced generative adversarial network to deal with the challenging problems of raindrops. UnfairGAN is an enhanced generative adversarial network that can utilize …
Rain removal plays an important role in the restoration of degraded images. Recently, data-driven methods have achieved remarkable success. However, these approaches neglect that the appearance of rain is often accompanied by low light conditions, which will further degrade the image quality. Therefore, it is very indispensable to jointly remove the rain and enhance the light for real-world rain image restoration. In this paper, we aim to address this problem from two aspects. First, we proposed a novel entangled network, namely EMNet, which can remove the rain and enhance illumination in one …
PRISM: Progressive Rain removal with Integrated State-space Modeling
Faculty of Data Science, City University of Macau, SAR Macao, China（澳门城市大学数据科学学院）；College of Oceanography and Space Informatics, China University of Petroleum (East China), China（中国石油大学（华东）海洋学院）；Zhuhai 4Dage Network Technology, China（珠海4Dage网络技术）
Xi’an Jiaotong University（西安交通大学）；Macau University of Science and Technology（澳门科技大学）
To alleviate the adverse effect of rain streaks in image processing tasks, CNN-based single image rain removal methods have been recently proposed. However, the performance of these deep learning methods largely relies on the covering range of rain shapes contained in the pre-collected training rainy-clean image pairs. This makes them easily trapped into the overfitting-to-the-training-samples issue and cannot finely generalize to practical rainy images with complex and diverse rain streaks. Against this generalization issue, this study proposes a new network architecture by enforcing the outp…
The problem of robustness in adverse weather conditions is considered a significant challenge for computer vision algorithms in the applicants of autonomous driving. Image rain removal algorithms are a general solution to this problem. They find a deep connection between raindrops/rain-streaks and images by mining the hidden features and restoring information about the rain-free environment based on the powerful representation capabilities of neural networks. However, previous research has focused on architecture innovations and has yet to consider the vulnerability issues that already exist i…
Xi’an Jiaotong University（西安交通大学）；The Hong Kong Polytechnic University（香港理工大学）；Chongqing University of Posts and Telecommunications（重庆邮电大学）
Video rain/snow removal from surveillance videos is an important task in the computer vision community since rain/snow existed in videos can severely degenerate the performance of many surveillance system. Various methods have been investigated extensively, but most only consider consistent rain/snow under stable background scenes. Rain/snow captured from practical surveillance camera, however, is always highly dynamic in time with the background scene transformed occasionally. To this issue, this paper proposes a novel rain/snow removal approach, which fully considers dynamic statistics of bo…
In computer vision applications, the visibility of the video content is crucial to perform analysis for better accuracy. The visibility can be affected by several atmospheric interferences in challenging weather-one of them is the appearance of rain streak. In recent time, rain streak removal achieves lots of interest to the researchers as it has some exciting applications such as autonomous car, intelligent traffic monitoring system, multimedia, etc. In this paper, we propose a novel and simple method by combining three novel extracted features focusing on temporal appearance, wide shape and …
Rain removal in images is an important task in computer vision filed and attracting attentions of more and more people. In this paper, we address a non-trivial issue of removing visual effect of rain streak from a single image. Differing from existing work, our method combines various semantic constraint task in a proposed multi-task regression model for rain removal. These tasks reinforce the model's capabilities from the content, edge-aware, and local texture similarity respectively. To further improve the performance of multi-task learning, we also present two simple but powerful dynamic we…
Tier IV Inc.（Tier IV公司）；The National Research Institute for Earth Science and Disaster Resilience（国立地球科学与防灾研究所）；Nagoya University（名古屋大学）
Robust sensing and perception in adverse weather conditions remain one of the biggest challenges for realizing reliable autonomous vehicle mobility services. Prior work has established that rainfall rate is a useful measure for the adversity of atmospheric weather conditions. This work presents a probabilistic hierarchical Bayesian model that infers rainfall rate from automotive lidar point cloud sequences with high accuracy and reliability. The model is a hierarchical mixture of experts model, or a probabilistic decision tree, with gating and expert nodes consisting of variational logistic an…
