CPC G01W 1/02 (2013.01) [G01S 17/86 (2020.01); G01S 17/95 (2013.01); G06V 10/60 (2022.01); G06V 20/58 (2022.01)] | 10 Claims |
1. A fog determination apparatus comprising:
processing circuitry to:
acquire point data indicating a reflection point obtained by an optical sensor that receives reflected light of an emitted light beam reflected at the reflection point;
acquire image data of an area around the reflection point indicated by the acquired point data;
calculate, as a value indicating smoothness of luminance of the image data, a sum of absolute values of values resulting from calculating a second derivative of luminance of each pixel constituting one or more horizontal lines of the acquired image data; and
determine a density of fog based on a distance, which is determined from the point data, from the optical sensor to the reflection point and the calculated smoothness of the luminance.
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