Time-of-flight imaging in fog using multiple time-gated exposures

We propose a time-of-flight measurement algorithm for depth and intensity that is robust to fog. The key idea of the algorithm is to compensate for the scattering effects of fog by using multiple time-gating and assigning one time-gated exposure for scattering property estimation. Once the property is estimated, the depth and intensity can be reconstructed from the rest of the exposures via a physics-based model. Several experiments with artificial fog show that our method can measure depth and intensity irrespective of the traits of the fog. We also confirm the effectiveness of our method in real fog through an outdoor experiment.