V.Sujatha et al.
/ (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES
A Genetic Algorithm Based on Fog Intensity
Detection method for Driver Safety
V.Sujatha Y.Prathima
E.C.E Department E.C.E.Department
V.R.Siddhartha Engineering College V.R. Siddhartha Engineering College
TIFAC CORE TELEMATICS TIFAC CORE TELEMATICS
Kanur, Vijayawada Kanur, Vijayawada
Sujatha.vundavali@gmail.com prathimasiva@gmail.com
Abstract-The obstacle detection under adverse weather
conditions, especially foggy conditions, is a challenging task
because the contrast is drastically reduced. In weather
conditions in particular, daylight fog, the contrast of images
grabbed by in-vehicle cameras in the visible light range is
drastically degraded, which makes current driver assistance
that relies on cameras very sensitive to weather conditions. The
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visibility distance is calculated from the camera projection
equations and the blurring due to the fog. The effects of
daylight fog vary across the scene and are exponential with
respect to the depth of scene points.
Key-Words-Fog removal, Atmospheric Visibility distance,
Contrast Restoration, Genetic algorithm, Contrast restoration
I. INTRODUCTION
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Recently, many systems have been developed that use
computers and various sensors to assist driving. Some
notable examples include self-steering by white-line
detection, a rear-end collision-prevention system that
operates by measuring the distance to the vehicle ahead, a
danger notification system that recognizes pedestrians, and a
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system that automatically operates the windshield wipers
upon recognizing rain drops . When considering a driving
assistant system, we cannot ignore changes in weather
conditions, since in such adverse weather conditions as rain,
snow, or fog, driving is more difficult than in fair
conditions, leading to a significant increase in the accident
rate. Therefore, a close relationship exists between driver
assistance and weather recognition. In this paper, we focus
on fog detection. Fog negatively influences human
perception of traffic conditions, making for potentially
dangerous situations. Automatic lighting of fog lamps,
speed control, and rousing of attention are examples of
potential assistance to be realized with respect to fog
recognition. Under foggy conditions the distance between a
ISSN: 2230-7818 @ 2011 http://www.ijaest.iserp.org. All rights Reserved.
Vol No. 5, Issue No. 2, 261 - 268
Dr K.Rama Krishna
E.C.E. Department
V.R.Siddhartha Engineering College
TIFAC CORE IN TELEMATICS
Kanur, Vijayawada
srk_kalva@yahoo.com
preceding vehicle's tail lamp is perceived to be 60% further
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away than under fair conditions. Furthermore, fog changes
significantly both temporally and spatially, and as a result
there is a need for real-time detection using in-vehicle
sensors. One method that involves installing large numbers
of sensors along roads might be one solution, though it may
not accurately reflect a driver's visual condition. It would
also be a very expensive system to establish. Considering
these problems, we propose a method that classifies fog
density into three levels using in-vehicle camera images and
millimetre-wave (mm-W) radar data. The image from the
in-vehicle camera reflects the driver's visual conditions, vital
when driving. This is the prime advantage of using an in-
vehicle camera. We also evaluate the degradation in
visibility of images that are captured in foggy conditions,
especially by focusing on the change in visibility of a
preceding vehicle. We must also take into account the
distance to the targets to determine the fog density, because
under the same fog condition, nearby objects is easy to see
while distant objects are not. We therefore use mm-W radar
together with the in-vehicle camera, since it can measure
distance without being influenced by adverse weather
Under adverse meteorological conditions, the contrast of
images that are grabbed by a classical in-vehicle camera in
the visible light range is drastically degraded, which makes
current in-vehicle applications relying on such sensors very
sensitive to weather conditions. An in-vehicle vision system
should take fog effects into account to be more reliable. A
first solution is to adapt the operating thresholds of the
system or to momentarily deactivate it if these thresholds
have been surpassed. A second solution is to remove
weather effects from the image beforehand. Unfortunately,
the effects vary across the scene. They are exponential with
respect to the depth of scene points. Consequently, space-
invariant filtering techniques cannot be directly used to
adequately remove weather effects from images. A judicious
approach is to detect and characterize weather conditions to
estimate the decay in the image and then to remove it.
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II. FOG EFFECTS ON VISION
A. Visual Properties of Fog
The attenuation of luminance through the atmosphere
was studied by Koschmieder, who derived an equation
relating the apparent luminance or radiance L of an object
that is located at distance d to the luminance L0 measured
close to this Object,
+ (1- ) (1)
This expression indicates that the luminance of the object
that is seen through fog is attenuated in e−kd (Beer–Lambert
law); it also reveals a luminance reinforcement of the form
(1- ) resulting from daylight that is scattered by the
slab of fog between the object and the observer, which is
also named air light. L∞ is the atmospheric luminance. In
the presence of fog, it is also the background luminance on
which the target can be detected. The previous equation may
be written as
=( - )
On the basis of this equation, Duntley developed a contrast
attenuation law, stating that a nearby object exhibiting
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Contrast C0 with the background will be perceived at
distance d with the following contrast
C= [( - )/ ] =
This expression serves to base the definition of a standard
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dimension that is called “meteorological visibility distance”
Vmet, i.e., the greatest distance at which a black object (C0
= −1) of a suitable dimension can be seen in the sky on the
horizon, with the threshold contrast set at 5%. It is, thus, a
standard dimension that characterizes the opacity of a fog
layer. This definition yields the following expression
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1 3
=- (4)
 
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Vol No. 5, Issue No. 2, 261 - 268
Fig.1. Fog or haze luminance is due to the scattering of daylight. Light
Coming from the sun and scattered by atmospheric particles toward the
camera is the air light A. It increases with the distance. The light emanating
from the object R is attenuated by scattering along the line of sight. Direct
transmission T of R decreases with distance
B. Camera Response
Let us denote f as the camera-response function,
which models the mapping from scene luminance to image
intensity by the imaging system, including optic as well as
electronic. The intensity I of a pixel is the result of f applied
to the sum of the air light A and the direct transmission T,
(1)
In this paper, we assume that the conversion process
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between incident energy on the charge-coupled device
(CCD) sensor and the intensity in the image is linear. This is
generally the case for short exposure times because it
prevents the CCD array from being saturated. Furthermore,
short exposure times (1–4 ms) are used on in-vehicle
cameras to reduce the motion blur. This assumption can,
thus, be considered as valid, and (1) becomes
) (1 ))
(3)
) ) (1 )
+ (1 )
C. Enhancement
The aim of image enhancement is to improve the
interpretability or perception of information in images for
human viewers, or to provide `better' input for other
automated image processing techniques. Image
enhancement techniques can be divided into two broad
categories:
1. Spatial domain methods, which operate directly on pixels,
and
2. Frequency domain methods, which operate on the Fourier
transform of an image.
Unfortunately, there is no general theory for determining
what `good’ image enhancement is when it comes to human
perception. If it looks good, it is good! However, when
image enhancement techniques are used as pre-processing
tools for other image processing techniques, then
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Vol No. 5, Issue No. 2, 261 - 268

quantitative measures can determine which techniques are [0, + ∞ )] (4)

most appropriate
Contrast enhancement techniques can be classed into
two means: global and local. Histogram equalization is the
most popular global enhancement algorithm for its
simplicity and effectiveness. Because it uses global
histogram information over the whole image as its
transformation function to stretch contrast, can not reflect
local scene depth change, the enhancement effect cannot
be satisfying when depth changes in the scene. In ,an
image clearness method for fog using a moving mask-
based sub-block overlapped histogram equalization
method to de weather the degraded image. The idea of
this method is that assuming the pixels in the sub-block
mask having same scene depth, so by segmenting the sky
region for restraining over-enhancing, the contrast in
non-sky region can be restored and fog effect is
lighten. However, the method moves the mask by step
equal to 1 for implementing sky region pixel judgement Fig 2.Gray Scale Images

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and contrast enhancement by sub-block overlapped
histogram equalization, the complexity of computation is
very high.

III. CONTRAST-RESTORATION

Restoration Principle
METHOD
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Here, we describe a simple method to restore scene
contrast from an image of a foggy scene. Let us consider a
pixel with known depth d. Its intensity I is given by. (A∞, β)
characterizes the weather condition and is estimated through
consequently, contrary to; R can be directly estimated for all
scene points from

+ (1- ) (1)
A
Fig 3.Restoration Principles Outputs

The previous equation can be written as follows

∞ ∞ (2)

And thus, the contrast Cr in the restored image is

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∞ )/ ∞ ] =C (3)

However, R may become negative for certain values of (I,

d). We can solve the equation R (d∗) = 0 and obtain

In case of negative values during the restoration process, we

propose to set these values to 0. The restoration equation
finally becomes
Fig 4. Histogram Output for Images

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Vol No. 5, Issue No. 2, 261 - 268

IV. Block Diagram

Edge detection
Image (binary)
Genetic Iteration to Out Put
Foggy reduce
algorithm
Image intensity
levels
Gray scale
Foggy image

1. Foggy Image
In this foggy image is taken. That foggy image may
be any format i.e., color image may be j-peg bitmap
...etc that foggy image (color image) is converted in to
while preserving the important structural properties of an
image. If the edge detection step is successful, the
subsequent task of interpreting the information contents in
the original image may therefore be substantially simplified.

Gray scale image. Color image is 3-dimension image
where as gray scale image is 2- dimension image.
Image extraction is possible in 2- dimension in 3-
dimension image extraction is quite complicated.
To convert gray scale to edge detection canny
algorithm is used
2. Edge Detection
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Edge detection is a fundamental tool in image processing and
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However, it is not always possible to obtain such ideal edges
from real life images of moderate complexity. Edges
extracted from nontrivial images are often hampered by
fragmentation, meaning that the edge curve are not
connected, missing edge segments as well as false edges not
corresponding to interesting phenomena in the image – thus
complicating the subsequent task of interpreting the image
data

computer vision, particularly in the areas of feature detection and

feature extraction, which aim at identifying points in a digital
image at which the image brightness changes sharply or, more
formally, has discontinuities.
Canny edge detection applied to a photograph

Canny Edge Detection:

The purpose of detecting sharp changes in image
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brightness is to capture important events and changes in
properties of the world. It can be shown that under rather
general assumptions for an image formation model,
discontinuities in image brightness are likely to correspond
to
Fig 5.Input Images
 discontinuities in depth,
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 discontinuities in surface orientation,

 changes in material properties and
 Variations in scene illumination.
In the ideal case, the result of applying a edge
detector to an image may lead to a set of connected curves
that indicate the boundaries of objects, the boundaries of
surface markings as well as curves that correspond to
discontinuities in surface orientation. Thus, applying an
edge detection algorithm to an image may significantly
reduce the amount of data to be processed and may therefore
filter out information that may be regarded as less relevant, Fig 6.Edge Detection Outputs

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3. Gray Scale Images
A grayscale image (also called gray-scale, gray scale, or
gray-level) is a data matrix whose values represent
intensities within some range. MATLAB stores a grayscale
image as an individual matrix, with each element of the
matrix corresponding to one image pixel. By convention,
this documentation uses the variable name I to refer to
grayscale images. The matrix can be of class uint8, uint16,
int16, single, or double. While grayscale images are rarely
saved with a color map, MATLAB uses a color map to
display them. For a matrix of class single or double, using
the default grayscale color map, the intensity 0 represents
black and the intensity 1 represents white. For a matrix of
type uint8, uint16, or int16, the intensity intmin (class (I))
represents black and the intensity intmax (class (I))
represents white
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Fig 7.Input Images
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Fig 8.Gray Scale Images
4. Fog Removal Algorithm (Genetic Algorithm)
The area of genetic algorithms is very wide; it is not
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Vol No. 5, Issue No. 2, 261 - 268
possible to cover everything in these pages. But you should
get some idea, what the genetic algorithms are and what
they could be useful for. Do not expect any sophisticated
mathematics theories here. Genetic algorithms are a part of
evolutionary computing, which is a rapidly growing area of
artificial intelligence. As you can guess, genetic algorithms
are inspired by Darwin's theory about evolution. Simply
said, solution to a problem solved by genetic algorithms is
evolved.
A. Initialization
Initially many individual solutions are randomly generated
to form an initial population. The population size depends
on the nature of the problem, but typically contains several
hundreds or thousands of possible solutions. Traditionally,
the population is generated randomly, covering the entire
range of possible solutions (the search space). Occasionally,
the solutions may be "seeded" in areas where optimal
solutions are likely to be found.
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During each successive generation, a proportion of the
existing population is selected to breed a new generation.
Individual solutions are selected through a fitness-based
process, where fitter solutions (as measured by a fitness
function) are typically more likely to be selected. Certain
selection methods rate the fitness of each solution and
preferentially select the best solutions. Other methods rate
only a random sample of the population, as this process may
be very time-consuming
B. Reproduction
The next step is to generate a second generation population
of solutions from those selected through genetic operators:
crossover (also called recombination), and/or mutation. For
each new solution to be produced, a pair of "parent"
solutions is selected for breeding from the pool selected
previously. By producing a "child" solution using the above
methods of crossover and mutation, a new solution is
created which typically shares many of the characteristics of
its "parents". New parents are selected for each new child,
and the process continues until a new population of
solutions of appropriate size is generated. Although
reproduction methods that are based on the use of two
parents are more "biology inspired", some research suggests
more than two "parents" are better to be used to reproduce a
good quality chromosome. These processes ultimately
result in the next generation population of chromosomes that
is different from the initial generation. Generally the
average fitness will have increased by this procedure for the
population, since only the best organisms from the first
generation are selected for breeding, along with a small
proportion of less fit solutions, for reasons already
mentioned above. Although Crossover and Mutation are
known as the main genetic operators, it is possible to use
other operators such as regrouping, colonization-extinction,
or migration in genetic algorithms.
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C.Termination
This generational process is repeated until a Termination
conditions have been reached. Common terminating
conditions are
 A solution is found that satisfies minimum criteria
 Fixed number of generations reached
 Allocated budget (computation time/money) reached
 The highest ranking solution's fitness is reaching or has
reached a plateau such that successive iterations no longer
produce better results
 Manual inspection
 Combinations of the above
Simple generational genetic algorithm pseudo code
1. Choose the initial population of individuals
2. Evaluate the fitness of each individual in that population
3. Repeat on this generation until termination: (time limit,
a.
b.
sufficient fitness achieved, etc.)
Select the best-fit individuals for reproduction
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Breed new individuals through crossover and mutation
operations to give birth to offspring
c. Evaluate the individual fitness of new individuals
d. Replace least-fit population with new individuals
The building block hypothesis
Genetic algorithms are simple to implement, but their
behavior is difficult to understand. In particular it is difficult
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to understand why these algorithms frequently succeed at
generating solutions of high fitness when applied to
practical problems. The building block hypothesis (BBH)
consists of:
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1.A description of a heuristic that performs adaptation by
identifying and recombining "building blocks", i.e. low
order, low defining-length schemata with above average
fitness.
2. A hypothesis that a genetic algorithm performs adaptation
by implicitly and efficiently implementing this heuristic.
Problem with Genetic algorithm
Problems which appear to be particularly
appropriate for solution by genetic algorithms include
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Vol No. 5, Issue No. 2, 261 - 268
timetabling and scheduling problems, and many scheduling
software packages are based on GAs. GAs have also been
applied to engineering. Genetic algorithms are often applied
as an approach to solve global optimization problems.
As a general rule of thumb genetic algorithms might be
useful in problem domains that have a complex fitness
landscape as mixing, i.e., mutation in combination with
crossover, is designed to move the population away from
local optima that a traditional hill climbing algorithm might
get stuck in. Observe that commonly used crossover
operators cannot change any uniform population. Mutation
alone can provide ergodicity of the overall genetic algorithm
process (seen as a Markov chain).
Examples of problems solved by genetic
algorithms include: mirrors designed to funnel sunlight to a
solar collector, antennae designed to pick up radio signals in
space, and walking methods for computer figures. Many of
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their solutions have been highly effective, unlike anything a
human engineer would have produced, and inscrutable as to
how they arrived at that solution.
The simplest algorithm represents each chromosome as
a bit string. Typically, numeric parameters can be
represented by integers, though it is possible to use floating
point representations. The floating point representation is
natural to evolution strategies and evolutionary
programming. The notion of real-valued genetic algorithms
has been offered but is really a misnomer because it does
not really represent the building block theory that was
proposed by Holland in the 1970s. This theory is not
without support though, based on theoretical and
experimental results (see below). The basic algorithm
performs crossover and mutation at the bit level. Other
variants treat the chromosome as a list of numbers which are
indexes into an instruction table, nodes in a linked list,
hashes, objects, or any other imaginable data structure.
Crossover and mutation are performed so as to respect data
element boundaries. For most data types, specific variation
operators can be designed. Different chromosomal data
types seem to work better or worse for different specific
problem domains. When bit-string representations of
integers are used, Gray coding is often employed. In this
way, small changes in the integer can be readily affected
through mutations or crossovers.
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Vol No. 5, Issue No. 2, 261 - 268

Fig 9:Input Images

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Fig 10: Fog Removal Algorithm Outputs (Genetic Algorithm)
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Fig 11: Histograms for Inputs and Outputs Images

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V. Conclusion
In this paper, we proposed a method that classifies fog
density according to a visibility feature of a preceding
vehicle and the distance to the vehicle. We obtained
promising results through an experiment using data
collected from an in-vehicle camera while driving the
vehicle. From the results, we confirmed that the
proposed method could make judgments that comply
with human perception.
In future, we will consider an improved visibility
feature that does not vary depending on the type or
colour of the preceding vehicle. In addition, we will
consider a situation when there is no preceding vehicle at
all.

VI. References
1. Nicolas Hautière, Jean-Philippe Tarel, and Didier
Aubert Mitigation of Visibility Loss for Advanced

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Camera-Based Drive Assistance IEEE transactions on
intelligent transportation systems, vol. 11, no. 2, June
2010
2. R. T. Tan, “Visibility in bad weather from a single
image,” in Proc. IEEE Conf. Comput. Vis. Pattern
Recog., 2008
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3. N. Hautière, J.-P. Tarel, and D. Aubert, “Towards fog-
free in-vehicle vision systems through contrast
restoration,” in Proc. IEEE Conf. Comput. Vis. Pattern
Recog., 2007, pp. 1–8.
4. N. Hautière, J.-P. Tarel, J. Lavenant, and D. Aubert.
Automatic Fog Detection and Estimation of Visibility
Distance through use of an Onboard Camera. Machine
Vision and Applications Journal, 17(1):8– 20, April
2006.
5. S. G. Narasimhan and S. K. Nayar, “Contrast
restoration of weather degraded images,” IEEE Trans.
Pattern Anal. Mach. Intell., vol. 25, no. 6, pp. 713–724,
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Jun. 2003
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