Visibility detection method based on optical model and dark primary color priori theory

The invention discloses a visibility detection method based on an optical model and a dark primary color priori theory. The method comprises the following steps of: (1) acquiring a correlative parameter required by visibility computation according to an imaging model of a video sensor; (2) acquiring a traffic video image 1 by using the arranged video sensor; (3) acquiring the transmissivity t(x) of the acquired image on the basis of the dark primary color priori theory; (4) refining the transmissivity acquired in the step (3) by using a multipoint anisotropic Gaussian filter and bilateral filtering; (5) substituting the transmissivity acquired in the step (4) into the inflection points, varying along the vertical direction, of a video image gray value and a function expression of the transmissivity in order to obtain the coordinates of the inflection points; and (6) substituting the vertical coordinate values of all the inflection points into a visibility detection model in order to determine a visibility value. The visibility detection method may satisfy visibility computation in complex scenes containing inhomogeneous pavements, shielded pavement signs, or multiple targets.