Precipitation removal from video

A system comprising one or more computers configured to perform operations comprising:

• generating, from a first set of images of a scene from a camera, a segmented background image model of the scene;
• overlaying the segmented background image model with a grid, wherein the grid defines segments of the segmented background image model of the scene;
• obtaining a second set of images from the camera;
• identifying, in an image of the second set of images, a plurality of edges;
• determining that a first edge of the plurality of edges satisfies criteria for representing precipitation based at least in part on determining that the first edge (i) does not correspond to the segmented background image model of the scene and (ii) extends into two or more contiguous segments of the segmented background image model of the scene defined by the grid;
• in response to determining that the first edge satisfies the criteria for representing the precipitation:
• classifying each of the contiguous segments as a precipitation segment;
• generating pixel data for each of the precipitation segments;
• and
• applying the pixel data to each of the precipitation segments in the image.

A non-transitory computer-readable medium storing software comprising instructions executable by one or more computers which, upon such execution, cause the one or more computers to perform operations comprising:

• generating, from a first set of images of a scene from a camera, a segmented background image model of the scene;
• overlaying the segmented background image model with a grid, wherein the grid defines segments of the segmented background image model of the scene;
• obtaining a second set of images from the camera;
• identifying, in an image of the second set of images, a plurality of edges;
• determining that a first edge of the plurality of edges satisfies criteria for representing precipitation based at least in part on determining that the first edge (i) does not correspond to the segmented background image model of the scene and (ii) extends into two or more contiguous segments of the segmented background image model of the scene defined by the grid;
• in response to determining that the first edge satisfies the criteria for representing the precipitation:
• classifying each of the contiguous segments as a precipitation segment;
• generating pixel data for each of the precipitation segments;
• and
• applying the pixel data to each of the precipitation segments in the image.