Foggy day scene relative motion estimation method and device based on bionic polarization vision

The invention relates to a foggy day scene relative motion estimation method and device based on bionic polarization vision. The method comprises the steps that the conversion relation between the polarization degree and a transmission function is established from an atmospheric scattering model, the transmission function is reconstructed, and the transmission function contains scene relative depth information. In order to obtain depth information of a scene through a transmission function, a resolving formula of key independent variable parameters such as infinite atmospheric light and polarized atmospheric light in a transmission function model is obtained from the decomposition angle of polarized light, and atmospheric polarization degree information corresponding to a polarized image is calculated according to a to-be-detected image. And estimating the depth information of the detection scene according to the polarization atmospheric light information, the infinite atmospheric light information and the at