A Lightweight Stereo Visual Odometry System for Navigation of Autonomous Vehicles in Low-Light Conditions

<div>Comparing PSNR and SSIM for adaptive gamma correction, histogram equalization, and our method. Ada-GC: adaptive gamma correction; HE: histogram equalization; Ours: for low-light image recovery method we used. (a) Comparison of SSIM. (b) Comparison of PSNR.</div>

Wireless Communications and Mobile Computing

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Figure 9

Figure 9: A Lightweight Stereo Visual Odometry System for Navigation of Autonomous Vehicles in Low-Light Conditions 