Fig. 1. Street fog map

Fig. 2. Effect of different K values on image brightness

Fig. 3. Comparison of single-scale （SSR） and multi-scale （MSR） Reinex theories

Fig. 4. Original image and its corresponding dark channel i-mage

Fig. 5. Grayscale histogram corresponding to the dark channel -plot

Fig. 6. Dark channel plot brightness values in the first 1% pixe-l coordinates

Fig. 7. dehazing results

Fig. 8. Defogging effect comparison

Fig. 9. Average gradient of the seven images processed by different algorithms

Fig. 10. Entropy of the last seven images is processed by dif-ferent algorithms

Fig. 11. Ground target map

Fig. 12. Shoot the ground target from above

Fig. 13. Two-dimensional gray level histogram

Fig. 14. Binarization target feature extraction diagram

Fig. 15. Element of structure B

Fig. 16. Expansion operation processing result

Fig. 17. Preliminary target extraction results

Fig. 18. Element of structure C

Fig. 19. Target feature map after denoising

Fig. 20. Element of structure D

Fig. 21. Operation step is traversed for the first time

Fig. 22. Second iteration of the resulting detail map

Fig. 23. Centroid Finding and Labeling Result Plot

Fig. 24. Comparison of image feature segmentation effect

Fig. 25. Centroid extraction accuracy detection template

Fig. 26. Results of centroid extraction of template graph by different algorithms

Fig. 27. Geometric relationship between parameters under tradi-tional photographic conditions

Fig. 28. DJI Phantom4ProV2.0 drone

Fig. 29. Thin films with different transmittance

Fig. 30. Different films block the camera lens

Fig. 31. Site of experiment

Fig. 32. Fogging effect of fog map with different concentration

Fig. 33. Entropy of the image after de-fogging

Fig. 34. Average gradient of the image after de-fogging

Fig. 35. Clear picture

Fig. 36. Comparison of the height solution results of different de-fogging algorithms