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Free Space Detection for Autonomous Navigation in Daytime Foggy Weather

Free space detection is a primary task in autonomous navigation. Unfortunately, classical approaches have difficulties in adverse weather conditions, in particular in daytime fog. In this paper, a solution is proposed thanks to a contrast restoration approach. Knowing the density of fog, the method restores the contrast of the road and, at the same time, detect the vertical objects. Indeed, these objects are falsely restored and in this way easily segmented. Some results are shown on sample images extracted from video sequences acquired from an in-vehicle camera.