Patent ID: 11941815
Assignee: TOYOTA MOTOR EUROPE
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 5:
6. The method according to claim 5, wherein the bilateral filter is defined as:, t
    ⁡
    
      (
      p
      )
    
  
  =
  
    
      
        
          
            
              ∑
              
                q
                ∈
                
                  N
                  ⁡
                  
                    (
                    p
                    )
                  
                
              
            
            ⁢
            
              
                
                  G
                  
                    σ
                    s
                  
                
                ⁡
                
                  (
                  
                    ||
                    
                      q
                      -
                      p
                    
                    ||
                  
                  )
                
              
              [
              
                
                  δ
                  ⁡
                  
                    (
                    
                      
                        h
                        ⁡
                        
                          (
                          q
                          )
                        
                      
                      -
                      
                        h
                        ⁡
                        
                          (
                          p
                          )
                        
                      
                    
                    )
                  
                
                +
              
            
          
        
      
      
        
          
            
              
                
                  
                    μ
                    ⁢
                    G
                  
                  
                    σ
                    c
                  
                
                ⁡
                
                  (
                  
                    ||
                    
                      
                        J
                        ⁡
                        
                          (
                          q
                          )
                        
                      
                      -
                      
                        J
                        ⁡
                        
                          (
                          p
                          )
                        
                      
                    
                    ||
                  
                  )
                
              
              ]
            
            ⁢
            
              
                t
                ^
              
              ⁡
              
                (
                q
                )
              
            
          
        
      
    
    
      
        
          
            
              ∑
              
                q
                ∈
                
                  N
                  ⁡
                  
                    (
                    p
                    )
                  
                
              
            
            ⁢
            
              
                
                  G
                  
                    σ
                    s
                  
                
                ⁡
                
                  (
                  
                    ||
                    
                      q
                      -
                      p
                    
                    ||
                  
                  )
                
              
              [
              
                
                  δ
                  ⁡
                  
                    (
                    
                      
                        h
                        ⁡
                        
                          (
                          q
                          )
                        
                      
                      -
                      
                        h
                        ⁡
                        
                          (
                          p
                          )
                        
                      
                    
                    )
                  
                
                +
              
            
          
        
      
      
        
          
            
              
                
                  μ
                  ⁢
                  G
                
                
                  σ
                  c
                
              
              ⁡
              
                (
                
                  ||
                  
                    
                      J
                      ⁡
                      
                        (
                        q
                        )
                      
                    
                    -
                    
                      J
                      ⁡
                      
                        (
                        p
                        )
                      
                    
                  
                  ||
                
                )
              
            
            ]
          
        
      
    
  

wherein:
p and q are pixels of the initial image,
N(p) is the neighborhood of p,
t(p) is the transmittance of pixel p in the filtered transmittance map,
{circumflex over (t)}(q) is the transmittance of pixel q in the transmittance map,
Gσs is a spatial Gaussian kernel,
Gσc is a color-domain Gaussian kernel,
δ is the Kronecker delta,
μ is a predetermined weight,
h(p) and h(q) are respectively the semantic labels of pixels p and q, and
J(q) and J(p) are respectively the color value in the CIELAB domain.