# Fast Image-Anomaly Mitigation for Autonomous Mobile Robots

arXiv: https://arxiv.org/abs/2109.01889 · HTML: https://mlsanity.com/paper/2109.01889/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 23 of its 43 references that are in the map.
- First posted on arXiv 4 Sep 2021.

## Builds on (most cited first, 23 of 23)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [Image-to-Image Translation with Conditional Adversarial Networks](https://mlsanity.com/paper/1611.07004/) (2016)
- [Perceptual Losses for Real-Time Style Transfer and Super-Resolution](https://mlsanity.com/paper/1603.08155/) (2016)
- [High-Resolution Image Synthesis and Semantic Manipulation with Conditional GANs](https://mlsanity.com/paper/1711.11585/) (2017)
- [Unpaired Image-to-Image Translation using Cycle-Consistent Adversarial Networks](https://mlsanity.com/paper/1703.10593/) (2017)
- [DehazeNet: An End-to-End System for Single Image Haze Removal](https://mlsanity.com/paper/1601.07661/) (2016)
- [Progressive Image Deraining Networks: A Better and Simpler Baseline](https://mlsanity.com/paper/1901.09221/) (2019)
- [GridDehazeNet: Attention-Based Multi-Scale Network for Image Dehazing](https://mlsanity.com/paper/1908.03245/) (2019)
- [Attentive Generative Adversarial Network for Raindrop Removal from a Single Image](https://mlsanity.com/paper/1711.10098/) (2017)
- [Image De-raining Using a Conditional Generative Adversarial Network](https://mlsanity.com/paper/1701.05957/) (2017)
- [Precomputed Real-Time Texture Synthesis with Markovian Generative Adversarial Networks](https://mlsanity.com/paper/1604.04382/) (2016)
- [Spatial Attentive Single-Image Deraining with a High Quality Real Rain Dataset](https://mlsanity.com/paper/1904.01538/) (2019)
- [Densely Connected Pyramid Dehazing Network](https://mlsanity.com/paper/1803.08396/) (2018)
- [Gated Fusion Network for Single Image Dehazing](https://mlsanity.com/paper/1804.00213/) (2018)
- [Gated Context Aggregation Network for Image Dehazing and Deraining](https://mlsanity.com/paper/1811.08747/) (2018)
- [Self-Supervised Model Adaptation for Multimodal Semantic Segmentation](https://mlsanity.com/paper/1808.03833/) (2018)
- [A Formal Evaluation of PSNR as Quality Measurement Parameter for Image Segmentation Algorithms](https://mlsanity.com/paper/1605.07116/) (2016)
- [FastDeRain: A Novel Video Rain Streak Removal Method Using Directional Gradient Priors](https://mlsanity.com/paper/1803.07487/) (2018)
- [I Can See Clearly Now : Image Restoration via De-Raining](https://mlsanity.com/paper/1901.00893/) (2019)
- [A Coarse-to-Fine Multi-stream Hybrid Deraining Network for Single Image Deraining](https://mlsanity.com/paper/1908.10521/) (2019)

## Built on by (most cited first, 1 of 1)

- [DeRainGS: Gaussian Splatting for Enhanced Scene Reconstruction in Rainy Environments](https://mlsanity.com/paper/2408.11540/) (2024)

## Abstract (arXiv)

Camera anomalies like rain or dust can severelydegrade image quality and its related tasks, such as localizationand segmentation. In this work we address this importantissue by implementing a pre-processing step that can effectivelymitigate such artifacts in a real-time fashion, thus supportingthe deployment of autonomous systems with limited computecapabilities. We propose a shallow generator with aggregation,trained in an adversarial setting to solve the ill-posed problemof reconstructing the occluded regions. We add an enhancer tofurther preserve high-frequency details and image colorization.We also produce one of the largest publicly available datasets1to train our architecture and use realistic synthetic raindrops toobtain an improved initialization of the model. We benchmarkour framework on existing datasets and on our own imagesobtaining state-of-the-art results while enabling real-time per-formance, with up to 40x faster inference time than existingapproaches.