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Multiplication, division, and square root operations introduce significant challenges in digital signal processing (DSP) systems, traditionally requiring multiple operations that increase execution time and hardware complexity. This study presents a novel approach that leverages binary logarithms to perform these operations using only addition, subtraction, and shifts, enabling a unified hardware implementation—a marked departure from conventional methods that handle these operations separately. The proposed design, involving logarithm and antilogarithm calculations, exhibits an algebraically symmetrical pattern that further optimizes the processing flow. Additionally, this study introduces innovative log-domain correction terms specifically designed to minimize computation errors—a critical improvement over existing methods that often struggle with precision. Compared to standard hardware implementations, the proposed design significantly reduces hardware resource utilization and power consumption while maintaining high operational frequency.

Single-image dehazing is an ill-posed problem that has attracted a myriad of research efforts. However, virtually all methods proposed thus far assume that input images are already affected by haze. Little effort has been spent on autonomous single-image dehazing. Even though deep learning dehazing models, with their widely claimed attribute of generalizability, do not exhibit satisfactory performance on images with various haze conditions. In this paper, we present a novel approach for autonomous single-image dehazing. Our approach consists of four major steps: sharpness enhancement, adaptive dehazing, image blending, and adaptive tone remapping. A global haze density weight drives the adaptive dehazing and tone remapping to handle images with various haze conditions, including those that are haze-free or affected by mild, moderate, and dense haze. Meanwhile, the proposed approach adopts patch-based haze density weights to guide the image blending, resulting in enhanced local texture. Comparative performance analysis with state-of-the-art methods demonstrates the efficacy of our proposed approach.

The acquisition of digital images is susceptible to haze, and images captured under such adverse conditions may impact high-level applications designed for clean input data. Image dehazing emerges as a practical solution to this problem, as it can be employed to pre-process images immediately after acquisition. This paper presents a concise review of impactful algorithms, including those based on deep learning models, to identify the existing gap in real-time processing capabilities. Subsequently, a real-time dehazing system on a multiprocessor system-on-a-chip (MPSoC) platform is introduced to bridge this gap. The proposed system balances the trade-off between dehazing performance and computational complexity; hence, the name “Symmetric” is coined. Additionally, the entire system is implemented in programmable logic and wrapped by an interface circuit supporting double-buffering, rendering it highly suitable for seamless integration into existing camera systems. Implementation results on a Zynq UltraScale+ MPSoC ZCU106 Evaluation Kit demonstrate a maximum operating frequency of 356.51 MHz, equivalent to a maximum processing speed of 40.27 frames per second for DCI 4K resolution.

Image dehazing is a fundamental problem in computer vision and has hitherto engendered prodigious amounts of studies. Recently, with the well-recognized success of deep learning techniques, this field has been dominated by deep dehazing models. However, deep learning is not always a panacea, especially for the practicalities of image dehazing, because high computational complexity, expensive maintenance costs, and high carbon emission are three noticeable problems. Computational efficiency is, therefore, a decisive factor in real-world circumstances. To cope with this growing demand, we propose a linear time algorithm tailored to three primitive parts: unsharp masking (pre-processing), dehazing, and color gamut expansion (post-processing). The first enhances the sharpness according to the local variance of image intensities. The second removes haze based on the improved color attenuation prior, and the third addresses a residual effect of color gamut reduction. Extensive experimental results demonstrated that the proposed method performed comparatively with popular benchmarks, notably deep dehazing models. With such a comparative performance, the proposed method is still fast and efficient, favoring real-world computer vision systems.

Image dehazing, as a common solution to weather-related degradation, holds great promise for photography, computer vision, and remote sensing applications. Diverse approaches have been proposed throughout decades of development, and deep-learning-based methods are currently predominant. Despite excellent performance, such computationally intensive methods as these recent advances amount to overkill, because image dehazing is solely a preprocessing step. In this paper, we utilize an autonomous image dehazing algorithm to analyze a non-deep dehazing approach. After that, we present a corresponding FPGA design for high-quality real-time vision systems. We also conduct extensive experiments to verify the efficacy of the proposed design across different facets. Finally, we introduce a method for synthesizing cloudy images (loosely referred to as hazy images) to facilitate future aerial surveillance research.

Haze is the most frequently encountered weather condition on the road, and it accounts for a considerable number of car crashes occurring every year. Accordingly, image dehazing has garnered strong interest in recent decades. However, although various algorithms have been developed, a robust dehazing method that can operate reliably in different haze conditions is still in great demand. Therefore, this paper presents a method to adapt a dehazing system to various haze conditions. Under this approach, the proposed method discriminates haze conditions based on the haze density estimate. The discrimination result is then leveraged to form a piece-wise linear weight to modify the depth estimator. Consequently, the proposed method can effectively handle arbitrary input images regardless of their haze condition. This paper also presents a corresponding real-time hardware implementation to facilitate the integration into existing embedded systems. Finally, a comparative assessment against benchmark designs demonstrates the efficacy of the proposed dehazing method and its hardware counterpart.

Existing image dehazing algorithms typically rely on a two-stage procedure. The medium transmittance and lightness are estimated in the first stage, and the scene radiance is recovered in the second by applying the simplified Koschmieder model. However, this type of unconstrained dehazing is only applicable to hazy images, and leads to untoward artifacts in haze-free images. Moreover, no algorithm that can automatically detect the haze density and perform dehazing on an arbitrary image has been reported in the literature to date. Therefore, this paper presents an automated dehazing system capable of producing satisfactory results regardless of the presence of haze. In the proposed system, the input image simultaneously undergoes multiscale fusion-based dehazing and haze-density-estimating processes. A subsequent image blending step then judiciously combines the dehazed result with the original input based on the estimated haze density. Finally, tone remapping post-processes the blended result to satisfactorily restore the scene radiance quality. The self-calibration capability on haze conditions lies in using haze density estimate to jointly guide image blending and tone remapping processes. We performed extensive experiments to demonstrate the superiority of the proposed system over state-of-the-art benchmark methods.

Haze is a term that is widely used in image processing to refer to natural and human-activity-emitted aerosols. It causes light scattering and absorption, which reduce the visibility of captured images. This reduction hinders the proper operation of many photographic and computer-vision applications, such as object recognition/localization. Accordingly, haze removal, which is also known as image dehazing or defogging, is an apposite solution. However, existing dehazing algorithms unconditionally remove haze, even when haze occurs occasionally. Therefore, an approach for haze density estimation is highly demanded. This paper then proposes a model that is known as the haziness degree evaluator to predict haze density from a single image without reference to a corresponding haze-free image, an existing georeferenced digital terrain model, or training on a significant amount of data. The proposed model quantifies haze density by optimizing an objective function comprising three haze-relevant features that result from correlation and computation analysis. This objective function is formulated to maximize the image’s saturation, brightness, and sharpness while minimizing the dark channel. Additionally, this study describes three applications of the proposed model in hazy/haze-free image classification, dehazing performance assessment, and single image dehazing. Extensive experiments on both real and synthetic datasets demonstrate its efficacy in these applications.

Image acquisition is a complex process that is affected by a wide variety of internal and environmental factors. Hence, visibility restoration is crucial for many high-level applications in photography and computer vision. This paper provides a systematic review and meta-analysis of visibility restoration algorithms with a focus on those that are pertinent to poor weather conditions. This paper starts with an introduction to optical image formation and then provides a comprehensive description of existing algorithms as well as a comparative evaluation. Subsequently, there is a thorough discussion on current difficulties that are worthy of a scientific effort. Moreover, this paper proposes a general framework for visibility restoration in hazy weather conditions while using haze-relevant features and maximum likelihood estimates. Finally, a discussion on the findings and future developments concludes this paper.

In recent years, machine vision algorithms have played an influential role as core technologies in several practical applications, such as surveillance, autonomous driving, and object recognition/localization. However, as almost all such algorithms are applicable to clear weather conditions, their performance is severely affected by any atmospheric turbidity. Several image visibility restoration algorithms have been proposed to address this issue, and they have proven to be a highly efficient solution. This paper proposes a novel method to recover clear images from degraded ones. To this end, the proposed algorithm uses a supervised machine learning-based technique to estimate the pixel-wise extinction coefficients of the transmission medium and a novel compensation scheme to rectify the post-dehazing false enlargement of white objects. Also, a corresponding hardware accelerator implemented on a Field Programmable Gate Array chip is in order for facilitating real-time processing, a critical requirement of practical camera-based systems. Experimental results on both synthetic and real image datasets verified the proposed method’s superiority over existing benchmark approaches. Furthermore, the hardware synthesis results revealed that the accelerator exhibits a processing rate of nearly 271.67 Mpixel/s, enabling it to process 4K videos at 30.7 frames per second in real time.

Vision-based systems operating outdoors are significantly affected by weather conditions, notably those related to atmospheric turbidity. Accordingly, haze removal algorithms, actively being researched over the last decade, have come into use as a pre-processing step. Although numerous approaches have existed previously, an efficient method coupled with fast implementation is still in great demand. This paper proposes a single image haze removal algorithm with a corresponding hardware implementation for facilitating real-time processing. Contrary to methods that invert the physical model describing the formation of hazy images, the proposed approach mainly exploits computationally efficient image processing techniques such as detail enhancement, multiple-exposure image fusion, and adaptive tone remapping. Therefore, it possesses low computational complexity while achieving good performance compared to other state-of-the-art methods. Moreover, the low computational cost also brings about a compact hardware implementation capable of handling high-quality videos at an acceptable rate, that is, greater than 25 frames per second, as verified with a Field Programmable Gate Array chip. The software source code and datasets are available online for public use.

Haze removal is an ill-posed problem that has attracted much scientific interest due to its various practical applications. Existing methods are usually founded upon various priors; consequently, they demonstrate poor performance in circumstances in which the priors do not hold. By examining hazy and haze-free images, we determined that haze density is highly correlated with image features such as contrast energy, entropy, and sharpness. Then, we proposed an iterative algorithm to accurately estimate the extinction coefficient of the transmission medium via direct optimization of the objective function taking into account all of the features. Furthermore, to address the heterogeneity of the lightness, we devised adaptive atmospheric light to replace the homogeneous light generally used in haze removal. A comparative evaluation against other state-of-the-art approaches demonstrated the superiority of the proposed method. The source code and data sets used in this paper are made publicly available to facilitate further research.

This paper proposes a single image haze removal algorithm that shows a marked improvement on the color attenuation prior-based method. Through a vast number of experiments on a wide variety of images, it is discovered that there are problems in the color attenuation prior, such as color distortion and background noise, which arise due to the fact that the priors do not hold true in all circumstances. Successful resolution of these problems using the proposed algorithm shows its superior performance to other state-of-the-art methods in terms of both subjective visual quality and quantitative metrics, on both synthetic and natural hazy image datasets. The proposed algorithm also is computationally friendly, due to the use of an efficient quad-decomposition algorithm for atmospheric light estimation and a simple modified hybrid median filter for depth map refinement.

This paper presents a fast and compact hardware implementation using an efficient haze removal algorithm. The algorithm employs a modified hybrid median filter to estimate the hazy particle map, which is subsequently subtracted from the hazy image to recover the haze-free image. Adaptive tone remapping is also used to improve the narrow dynamic range due to haze removal. The computation error of the proposed hardware architecture is minimized compared with the floating-point algorithm. To ensure real-time hardware operation, the proposed architecture utilizes the modified hybrid median filter using the well-known Batcher’s parallel sort. Hardware verification confirmed that high-resolution video standards were processed in real time for haze removal.

Humanoid robots are versatile robot platforms that can carry out intelligent tasks and services for humans, including intimate interactions. For high mobility, a robust stabilization of motion including biped walking is crucial. This paper employs and elaborates on sensory reflex control to stabilize standing motion and biped walking using basic sensors such as an inertial measurement unit (IMU) and a force-sensing resistor (FSR). Specifically, normalized zero-moment points processed from FSR data are used in the reflexive control of a simple motion of swinging the whole body while standing, and the measured inclination angle of the trunk, filtered from IMU data, is used for biped walking on a sloped floor. The proposed control scheme is validated through experiments with the commercial humanoid robot, ROBOTIS-OP.