Fog, haze, or smoke are usual atmospheric phenomena that dramatically compromise the overall visibility of any scene, critically affecting features such as illumination, contrast, and contour detection of objects. The decrease in visibility compromises the performance of computer vision algorithms such as pattern recognition and segmentation, some of them very relevant for decision-making for the security or autonomous vehicle industries. Several dehazing methods have been proposed, however, to the best of our knowledge, all proposed metrics compare the defogged image to its ground truth for evaluation of the defogging algorithms, or need to estimate parameters through physical models. This fact hinders progress in the field as obtaining proper ground truth images is costly and time-consuming, and physical parameters greatly depend on the scene conditions. This paper aims to tackle this issue by proposing a contour-based metric for image defogging evaluation that does not need a ground truth image. The proposed metric only requires the original hazy RGB image and the RGB image after the defogging procedure. A comparison of the proposed metric with metrics currently used in the NTIRE 2018 defogging challenge is performed to prove its effectiveness in a general situation, showing comparable results to conventional metrics.

Unmanned surface vehicles have the advantages of maneuverability, concealment, wide activity area and low cost of use. Therefore, they have broad application prospects. This makes unmanned surface vehicles a research hotspot at home and abroad, and the sensing technology is the basis for the unmanned surface vehicles to perform tasks. The perception technology based on optical vision has the advantages of convenient application, relatively low cost, easy data acquisition and large amount of information, and has been widely studied by scholars at home and abroad. This paper mainly discusses the research of optical vision in unmanned surface vehicles from five aspects: Firstly, the water surface image preprocessing based on unmanned surface vehicles, mainly including water surface image stabilization research and defogging enhancement research; two water boundary detection; It is the use of light vision target detection; the fourth is the surface target tracking method. Finally, the light vision research of unmanned surface vehicles is summarized and forecasted.