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

Table 1

Comparison of PSNR&SSIM for adaptive gamma correction, histogram equalization and our method.

Images	Ada-gamma correction		Histogram equalization		Ours
	PSNR (dB)	SSIM	PSNR (dB)	SSIM	PSNR (dB)	SSIM
1st row	7.8633	0.0837	4.3233	0.0229	16.1813	0.1802
2nd row	10.8508	0.5457	8.7224	0.4692	10.6581	0.5003
3rd row	10.5836	0.5674	8.4229	0.4509	17.4225	0.7377
4th row	9.9263	0.4876	7.8555	0.3623	11.6864	0.5310
5th row	11.6111	0.3531	7.5862	0.2236	17.4387	0.5689
6th row	9.9133	0.4696	7.8530	0.4106	10.0635	0.4492
7th row	11.1430	0.5586	8.5902	0.4063	16.5346	0.6859
Average	10.2702	0.4380	7.6219	0.3351	14.2836	0.5219