Detection and Localization of Objects Hidden in Fog

Degraded visual environments like fog pose a major challenge to safety and security because light is scattered by tiny particles. We show that by interpreting the scattered light it is possible to detect, localize, and characterize objects normally hidden in fog. First, a computationally efficient light transport model is presented that accounts for the light reflected and blocked by an opaque object. Then, statistical detection is demonstrated for a specified false alarm rate using the Neyman-Pearson lemma. Finally, object localization and characterization are implemented using the maximum likelihood estimate. These capabilities are being tested at the Sandia National Laboratory Fog Chamber Facility.