Evaluation of Image Enhancement Techniques for Vision-Based Navigation under Low Illumination

Table 3

Mean ± standard deviation values of the extracted metric values from our visual odometry system for the different datasets, along with the number of successfully tracked frames.

	Map Size	2D-3D Associations	Inliers Count	Tracked Frames
Daytime	1103.3 ± 249.3	649.8 ± 159.8	244.0 ± 100.0	8750/8750
Night raw	123.8 ± 68.3	83.6 ± 50.5	39.5 ± 33.1	4042/8300
Gamma correction	200.9 ± 77.0	123.6 ± 52.6	52.5 ± 33.5	4404/8300
Lab + CLAHE	224.4 ± 93.5	127.8 ± 59.1	46.6 ± 34.2	4577/8300
RG + CLAHE	208.2 ± 99.6	123.5 ± 66.3	49.7 ± 37.7	4283/8300
Bioinspired	218.3 ± 73.7	129.4 ± 47.9	54.0 ± 30.6	8300/8300