Fig. 1. Self-supervised monocular depth estimation framework

Fig. 2. Fog simulation process

Fig. 3. Images without improvement. (a) Clear image; (b) depth map; (c) fog simulation image

Fig. 4. Images with pretreatment. (a) Clear image; (b) depth map; (c) fog simulation image

Fig. 5. Images with improvement . (a) Clear image; (b) depth map; (c) fog simulation image

Fig. 6. Clear image without fog simulation

Fig. 7. Visibility at 100 m

Fig. 8. Visibility at 250 m

Fig. 9. Visibility at 550 m

Fig. 10. Visibility at 1200 m

Fig. 11. Real fog image. (a) Visibility of 200 m; (b) visibility of 600 m; (c) visibility of 1700 m

Fig. 12. Simulated fog image. (a) Visibility of 200 m; (b) visibility of 600 m; (c) visibility of 1700 m

Fig. 13. Curve of simulated fog error rate varying with visibility