Driving in an adverse rain environment is a crucial challenge for vision-based advanced driver assistance systems (ADAS) in the automotive industry. The vehicle windshield wiper removes adherent raindrops that cause distorted images from in-vehicle frontal view cameras, but, additionally, it causes an occlusion that can hinder visibility at the same time. The wiper-occlusion causes erroneous judgments by vision-based applications and endangers safety. This study proposes behind-the-scenes (BTS) that detects and removes wiper-occlusion in real-time image inputs under rainy weather conditions. The pixel-wise wiper masks are detected by high-pass filtering to predict the optical flow of a sequential image pair. We fine-tuned a deep learning-based optical flow model with a synthesized dataset, which was generated with pseudo-ground truth wiper masks and flows using auto-labeling with acquired real rainy images. A typical optical flow dataset with static synthetic objects is synthesized with real fast-moving objects to enhance data diversity. We annotated wiper masks and scenes as detection ground truths from the collected real images for evaluation. BTS outperforms by achieving a 0.962 SSIM and 91.6% F1 score in wiper mask detection and 88.3% F1 score in wiper image detection. Consequently, BTS enhanced the performance of vision-based image restoration and object detection applications by canceling occlusions and demonstrated it potential role in improving ADAS under rainy weather conditions.
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© 2021 by the authors. Licensee MDPI, Basel, Switzerland.
All Science Journal Classification (ASJC) codes
- Analytical Chemistry
- Information Systems
- Atomic and Molecular Physics, and Optics
- Electrical and Electronic Engineering