CAM-FRN: Class Attention Map-Based Flare Removal Network in Frontal-Viewing Camera Images of Vehicles

Abstract

In recent years, active research has been conducted on computer vision and artificial intelligence (AI) for autonomous driving to increase the understanding of the importance of object detection technology using a frontal-viewing camera. However, using an RGB camera as a frontal-viewing camera can generate lens flare artifacts due to strong light sources, components of the camera lens, and foreign substances, which damage the images, making the shape of objects in the images unrecognizable. Furthermore, the object detection performance is significantly reduced owing to a lens flare during semantic segmentation performed for autonomous driving. Flare artifacts pose challenges in their removal, as they are caused by various scattering and reflection effects. The state-of-the-art methods using general scene image retain artifactual noises and fail to eliminate flare entirely when there exist severe levels of flare in the input image. In addition, no study has been conducted to solve these problems in the field of semantic segmentation for autonomous driving. Therefore, this study proposed a novel lens flare removal technique based on a class attention map-based flare removal network (CAM-FRN) and a semantic segmentation method using the images in which the lens flare is removed. CAM-FRN is a generative-based flare removal network that estimates flare regions, generates highlighted images as input, and incorporates the estimated regions into the loss function for successful artifact reconstruction and comprehensive flare removal. We synthesized a lens flare using the Cambridge-driving Labeled Video Database (CamVid) and Karlsruhe Institute of Technology and Toyota Technological Institute at Chicago (KITTI) datasets, which are road scene open datasets. The experimental results showed that semantic segmentation accuracy in images with lens flare was removed based on CAM-FRN, exhibiting 71.26% and 60.27% mean intersection over union (mIoU) in the CamVid and KITTI databases, respectively. This indicates that the proposed method is significantly better than state-of-the-art methods.