I. Introduction
Images obtained in outdoor scenes are usually affected by the degradation of atmosphere between the observer and the objects in the scene. The light of the object is absorbed by the suspended particles in the air, which will decrease the contrast of the image and cause color distortion, reducing the visual quality. However, many computer vision applications, such as visual navigation, require more precise input to achieve more efficient processing [1], [2]. Effective dehazing methods urgently needed in practical applications have attracted more and more attention in imaging science in recent years.