Raindrops on Windshield: Dataset and Lightweight Gradient-Based Detection Algorithm

TL;DR

This paper introduces a new dataset of images with raindrops on windshields, along with a lightweight gradient-based algorithm for detecting raindrops in videos, improving reliability for autonomous vehicle systems under adverse weather.

Contribution

The paper provides a publicly available raindrop dataset with annotations, a data augmentation method, and a novel gradient-based detection algorithm outperforming existing methods in speed and accuracy.

Findings

The dataset contains 8190 images with 3390 showing raindrops.

The proposed algorithm reliably detects raindrops in video sequences.

It outperforms the state-of-the-art in detection quality and processing speed.

Abstract

Autonomous vehicles use cameras as one of the primary sources of information about the environment. Adverse weather conditions such as raindrops, snow, mud, and others, can lead to various image artifacts. Such artifacts significantly degrade the quality and reliability of the obtained visual data and can lead to accidents if they are not detected in time. This paper presents ongoing work on a new dataset for training and assessing vision algorithms' performance for different tasks of image artifacts detection on either camera lens or windshield. At the moment, we present a publicly available set of images containing $8190$ images, of which $3390$ contain raindrops. Images are annotated with the binary mask representing areas with raindrops. We demonstrate the applicability of the dataset in the problems of raindrops presence detection and raindrop region segmentation. To augment the data, we also propose an algorithm for data augmentation which allows the generation of synthetic raindrops on images. Apart from the dataset, we present a novel gradient-based algorithm for raindrop presence detection in a video sequence. The experimental evaluation proves that the algorithm reliably detects raindrops. Moreover, compared with the state-of-the-art cross-correlation-based algorithm \cite{Einecke2014}, the proposed algorithm showed a higher quality of raindrop presence detection and image processing speed, making it applicable for the self-check procedure of real autonomous systems. The dataset is available at \href{https://github.com/EvoCargo/RaindropsOnWindshield}{$github.com/EvoCargo/RaindropsOnWindshield$}.