Clear2Fog simulates fog on 270k Waymo images; mixed-density fog at 75% scale matches full fixed-density training performance, and adjusted learning rates improve sim-to-real transfer by up to 1.17 mAP.
Rayleigh and Mie scattering
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A Data Efficiency Study of Synthetic Fog for Object Detection Using the Clear2Fog Pipeline
Clear2Fog simulates fog on 270k Waymo images; mixed-density fog at 75% scale matches full fixed-density training performance, and adjusted learning rates improve sim-to-real transfer by up to 1.17 mAP.