# What happens to a ToF LiDAR in fog?

arXiv: https://arxiv.org/abs/2003.06660 · HTML: https://mlsanity.com/paper/2003.06660/

## Key facts

- Cited by 9 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Mar 2020.

## Built on by (most cited first, 9 of 9)

- [Fog Simulation on Real LiDAR Point Clouds for 3D Object Detection in Adverse Weather](https://mlsanity.com/paper/2108.05249/) (2021)
- [Rethinking Data Augmentation for Robust LiDAR Semantic Segmentation in Adverse Weather](https://mlsanity.com/paper/2407.02286/) (2024)
- [Realistic Rainy Weather Simulation for LiDARs in CARLA Simulator](https://mlsanity.com/paper/2312.12772/) (2023)
- [Towards Accurate and Efficient 3D Object Detection for Autonomous Driving: A Mixture of Experts Computing System on Edge](https://mlsanity.com/paper/2507.04123/) (2025)
- [Probabilistic Rainfall Estimation from Automotive Lidar](https://mlsanity.com/paper/2104.11467/) (2021)
- [Perception Simplex: Verifiable Collision Avoidance in Autonomous Vehicles Amidst Obstacle Detection Faults](https://mlsanity.com/paper/2209.01710/) (2022)
- [Predicting the Influence of Adverse Weather on Pedestrian Detection with Automotive Radar and Lidar Sensors](https://mlsanity.com/paper/2405.12736/) (2024)
- [A Data Efficiency Study of Synthetic Fog for Object Detection Using the Clear2Fog Pipeline](https://mlsanity.com/paper/2605.12608/) (2026)
- [T2LDM++: A Self-Conditioned Representation Guided Diffusion Model for Realistic Text-to-LiDAR Scene Generation](https://mlsanity.com/paper/2606.30147/) (2026)

## Abstract (arXiv)

This article focuses on analyzing the performance of a typical time-of-flight (ToF) LiDAR under fog environment. By controlling the fog density within CEREMA Adverse Weather Facility 1 , the relations between the ranging performance and fogs are both qualitatively and quantitatively investigated. Furthermore, based on the collected data, a machine learning based model is trained to predict the minimum fog visibility that allows successful ranging for this type of LiDAR. The revealed experimental results and methods are helpful for ToF LiDAR specifications from automotive industry.