Effect of Adherent Rain on Vision-Based Object Detection Algorithms 2020-01-0104

Adverse weather conditions degrade the quality of images used in vision-based advanced driver assistance systems (ADAS) and autonomous driving algorithms. Adherent raindrops onto a vehicle’s windshield occlude parts of the input image and blur background texture in regions covered by them. Rain also changes image intensity and disturbs chromatic properties of color images. In this work, we collected a dataset using a camera mounted behind a windshield at different rain intensities. The data was processed to generate a set of distorted images by adherent raindrops along with ground truth data of clear images (just after a windshield wipe). We quantitatively evaluated the amount of distortion caused by the raindrops, using the Normalized Cross-Correlation and Structural Similarity methods. While most prior work in the field of rain detection and removal focuses on the image restoration aspects, they typically do not provide quantitative measures to the effect of degradation of input image quality on the performance of image-based algorithms. We quantitatively evaluated the effect of raindrop distortion on deep-learning-based object detection algorithms by comparing the detectors’ performance on the distorted images to the clear images. State-of-the-art detector algorithms were selected and used, namely, Faster Region-based Convolution Neural Network (R-CNN), Single Shot Detector (SSD) and You Only Look Once (YOLO). For the overall performance of the object detection and classification algorithms, we used standard accuracy, precision, and recall measures.