1- Recognition of objects and patterns based on the concept of invariant features: 1.1 Radiometric invariant features. 2.1 Combined radiometric-geometric invariant features. 2- Vision through the atmosphere: 2.1 New Atmospheric Point Spread Function. 2.2 Cooperative and simultaneous estimation of atmospheric parameters. 2.3 Recognition of atmospheric degraded images. 3- Modeling of optical blur 3.1 New optical blur model. 3.2 Cooperative and simultaneous estimation of blur parameters (I will present two different techniques). 4- Unified model for vision through participating media: 4.1 Atmospheric vision. 4.2 Underwater vision. 4.3 Vision through glasses.