In order to reduce the bad effect in the outdoor visibility system in foggy days and achieve the real-time dehazing effect, a fast and effective method, which is based on Bayer pattern image and dark channel prior, was developed to remove the haze from single image. The color image processing pipeline was improved through this method. Bayer pattern image is the raw data captured by digital camera and costs low memory. According to the characteristics of Bayer pattern image, the original dark channel prior algorithm was optimized and improved. The atmospheric light was estimated based on the quad-tree subdivision. In the optimization process of the transmission map, the coarser estimation was refined using the Guided Filter, which was modified with the property of Bayer pattern image. Finally, the RGB image, which is displayed by the device, was recovered from the haze removal Bayer image using the demosaic algorithm. The experimental results show our new single image haze removal method improves the image quality by reducing the haze effect, and enhances the calculation speed.