# Effect of Fog Particle Size Distribution on 3D Object Detection Under Adverse Weather Conditions

arXiv: https://arxiv.org/abs/2408.01085 · HTML: https://mlsanity.com/paper/2408.01085/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 16 of its 47 references that are in the map.
- First posted on arXiv 2 Aug 2024.

## Builds on (most cited first, 16 of 16)

- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection](https://mlsanity.com/paper/1912.13192/) (2019)
- [Multi-View 3D Object Detection Network for Autonomous Driving](https://mlsanity.com/paper/1611.07759/) (2016)
- [Frustum PointNets for 3D Object Detection from RGB-D Data](https://mlsanity.com/paper/1711.08488/) (2017)
- [Semantic Foggy Scene Understanding with Synthetic Data](https://mlsanity.com/paper/1708.07819/) (2017)
- [STD: Sparse-to-Dense 3D Object Detector for Point Cloud](https://mlsanity.com/paper/1907.10471/) (2019)
- [PV-RCNN++: Point-Voxel Feature Set Abstraction With Local Vector Representation for 3D Object Detection](https://mlsanity.com/paper/2102.00463/) (2021)
- [3D Object Detection with Pointformer](https://mlsanity.com/paper/2012.11409/) (2020)
- [Synscapes: A Photorealistic Synthetic Dataset for Street Scene Parsing](https://mlsanity.com/paper/1810.08705/) (2018)
- [GS3D: An Efficient 3D Object Detection Framework for Autonomous Driving](https://mlsanity.com/paper/1903.10955/) (2019)
- [DSGN: Deep Stereo Geometry Network for 3D Object Detection](https://mlsanity.com/paper/2001.03398/) (2020)
- [Lidar for Autonomous Driving: The principles, challenges, and trends for automotive lidar and perception systems](https://mlsanity.com/paper/2004.08467/) (2020)
- [Fog Simulation on Real LiDAR Point Clouds for 3D Object Detection in Adverse Weather](https://mlsanity.com/paper/2108.05249/) (2021)
- [End-to-End Pseudo-LiDAR for Image-Based 3D Object Detection](https://mlsanity.com/paper/2004.03080/) (2020)
- [Disp R-CNN: Stereo 3D Object Detection via Shape Prior Guided Instance Disparity Estimation](https://mlsanity.com/paper/2004.03572/) (2020)
- [An Overview Of 3D Object Detection](https://mlsanity.com/paper/2010.15614/) (2020)

## Abstract (arXiv)

LiDAR-based sensors employing optical spectrum signals play a vital role in providing significant information about the target objects in autonomous driving vehicle systems. However, the presence of fog in the atmosphere severely degrades the overall system's performance. This manuscript analyzes the role of fog particle size distributions in 3D object detection under adverse weather conditions. We utilise Mie theory and meteorological optical range (MOR) to calculate the attenuation and backscattering coefficient values for point cloud generation and analyze the overall system's accuracy in Car, Cyclist, and Pedestrian case scenarios under easy, medium and hard detection difficulties. Gamma and Junge (Power-Law) distributions are employed to mathematically model the fog particle size distribution under strong and moderate advection fog environments. Subsequently, we modified the KITTI dataset based on the backscattering coefficient values and trained it on the PV-RCNN++ deep neural network model for Car, Cyclist, and Pedestrian cases under different detection difficulties. The result analysis shows a significant variation in the system's accuracy concerning the changes in target object dimensionality, the nature of the fog environment and increasing detection difficulties, with the Car exhibiting the highest accuracy of around 99% and the Pedestrian showing the lowest accuracy of around 73%.