Assisting navigation in homogenous fog

An important cause of road accidents is the reduced visibility due to the presence of fog or haze. For this reason, there is a fundamental need for Advanced Driving Assistance Systems (ADAS) based on efficient real time algorithms able to detect the presence of fog, estimate the fog´s density, determine the visibility distance and inform the driver about the maximum speed that the vehicle should be traveling. Our solution is an improvement over existing methods of detecting fog due to the temporal integration of the horizon line and inflection point in the image. Our method performs in real time; approximately 50 frames per second. It is based on a single in-vehicle camera and is able to detect day time fog in real time in a wide range of scenarios, including urban scenarios.