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

Table 5

Object detector results for ‘Car’ class in the three subsequences with and without preprocessing. Reported results are the mean confidence in the detections, and the detection ratio represents the number of frames in which the detection was successful to the total number of frames in the subsequence.

Subsequence	Statistic	Technique
		Raw (unprocessed)	Gamma correction	Lab + CLAHE	RG + CLAHE	Bioinspired
710-730	Mean conf.	73.7	82.9	77.2	85.8	74.7
	Detection rate	13/21	20/21	20/21	21/21	17/21
2400-2415	Mean conf.	71.3	69.4	75.1	71.0	68.6
	Detection rate	12/16	11/16	12/16	15/16	14/16
5050-5080	Mean conf.	67.3	67.4	67.2	63.5	61.3
	Detection rate	18/31	21/31	24/31	18/31	19/31
Combined	Mean conf.	70.3	73.8	72.5	74.3	68.0
	Detection rate	43/68	52/68	56/68	54/68	50/68