镜头表面附着雨滴的检测和去除方法综述

视觉系统是自主无人系统的重要组成部分，附着在相机镜头表面的雨滴会在图像中产生伪影，造成图像质量退化，进而显著影响视觉系统的性能。为此全面深入地调研了近年来附着雨滴的检测和去除方法，凝练了附着雨滴检测和去除问题的本质，并总结了现有方法中使用的雨滴成像模型；从基于模型、基于数据驱动和基于摄像系统三个方向分类梳理了不同的技术方法；从网络架构和损失函数两个方面详细概述了深度网络模型的发展；汇总了现有文献中公开的附着雨滴数据集，并通过实验结果对部分算法的性能进行比较；讨论了检测和去除附着雨滴任务中存在的主要问题，并对该领域未来可能的发展方向进行了展望。

Review of the detection and removal methods of raindrops attached to the lens surface

Visual system is an important part of autonomous unmanned system. The raindrops attached to the surface of the camera lens will produce artifacts in the image, resulting in the degradation of image quality, which will significantly affect the performance of the visual system. The detection and removal methods of attached raindrops in recent years were comprehensively and deeply researched. The essence of the problem was condensed, and the existing raindrop imaging models were summarized. Different technical methods were sorted out from three directions:model-based, data-driven and camera system-based, then the development of deep network model was summarized from two aspects of network architecture and loss function. The existing datasets of attached raindrops were summarized, and the performance of some algorithms was compared through the experimental results. The main problems in the task of raindrop detection and removal were discussed, and the possible development direction in this field was prospected.