Abstract: The invention concerns image processing that includes the estimation of the optical depths of points in image data in order to enhance the image data. In particular but not limited to, from the optical depth noise present in the image due to aerosol in the scene, such as fog or haze, can be reduced. The invention concerns determining a first cost for each point independently based on a determined metric (60) and then a second cost based on an expected correlation in neighboring points (70). The two costs are then optimized (80) to determine an estimated optical depth for each point (80) that is then used to reduce the effect of aerosol in the image (84). Applications of the invention include, but is not limited to, surveillance systems so that objects in the scene of the image can be better identified once the image data has been enhanced to reduce the estimated noise. Aspects of the invention include a method, software, computer apparatus and a field programmable gate array.

Abstract: The invention concerns image processing that includes the estimation of the optical depths of points in image data in order to enhance the image data. In particular but not limited to, from the optical depth noise present in the image due to aerosol in the scene, such as fog or haze, can be reduced. The invention concerns determining.a first cost for each point independently based on a determined metric (60) and then a second cost based on an expected correlation in neighbouring points (70). The two costs are then optimized (80) to determine an estimated optical depth for each point (80) that is then used to reduce the effect of aerosol in the image (84). Applications of the invention include, but is not limited to, surveillance systems so that objects in the scene of the image can be better identified once the image data has been enhanced to reduce the estimated noise. Aspects of the invention include a method, software, computer apparatus and a field programmable gate array.