Sky detection plays an essential role in various computer vision applications. Most existing sky detection approaches, being trained on ideal dataset, may lose efficacy when facing unfavorable conditions like the effects of weather and lighting conditions. In this paper, a novel algorithm for sky detection in hazy images is proposed from the perspective of probing the density of haze. We address the problem by an image segmentation and a region-level classification. To characterize the sky of hazy scenes, we unprecedentedly introduce several haze-relevant features that reflect the perceptual hazy density and the scene depth. Based on these features, the sky is separated by two imbalance SVM classifiers and a similarity measurement. Moreover, a sky dataset (named HazySky) with 500 annotated hazy images is built for model training and performance evaluation. To evaluate the performance of our method, we conducted extensive experiments both on our HazySky dataset and the SkyFinder dataset. The results demonstrate that our method performs better on the detection accuracy than previous methods, not only under hazy scenes, but also under other weather conditions.
Keywords: HazySky; haze-relevant features; imbalance classifier; perceptual hazy density; sky detection; sky labeling.