Image restoration method in computer vision system, including method and apparatus for identifying raindrops on a windshield

A method for image restoration in a computer vision system, comprising:

• capturing a first image of an object that is optically occluded by a contamination comprising at least one raindrop;
• capturing a second image of the object from a different view point;
• and
• reconstructing an optically occluded part of the first image by using information in the second image,
• wherein the first and second images of the object are captured as a plurality of frames corresponding to successive time points, and upon detection of an optical occlusion in any one of the frames, the optically occluded part of the image in the incident frame is reconstructed from a refracted image of the at least one raindrop, and
• wherein the image of the object is captured through a substantially transparent sheet that can be optically occluded by contamination and is equipped with a wiper configured to wipe a surface of the transparent sheet to remove such contamination at a regular interval, and the reconstruction of the optically occluded part of the image is performed by using a frame from which contamination has just been removed by the wiper.