Examples for image conversion: Original simulated RGB images (top row) and corresponding simulated foggy gated NIR images with active laser illumination (bottom). The original image size is 512 × 512 pixels (13.3° FOV) whereas the gated images are downsampled to 64 × 64 pixels. The attenuation length of the fog was set to 13 m, the gate from 40 m to 60 m, the illumination FWHM to 6.4°, the image blurring to one pixel (gaussian filter) and the background illumination to 1%. RGB images taken from [25].