Image Enhancing in Poorly Illuminated Subterranean Environments for MAV Applications: A Comparison Study

  • Christoforos KanellakisEmail author
  • Petros Karvelis
  • George Nikolakopoulos
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11754)


This work focuses on a comprehensive study and evaluation of existing low-level vision techniques for low light image enhancement, targeting applications in subterranean environments. More specifically, an emerging effort is currently pursuing the deployment of Micro Aerial Vehicles in subterranean environments for search and rescue missions, infrastructure inspection and other tasks. A major part of the autonomy of these vehicles, as well as the feedback to the operator, has been based on the processing of the information provided from onboard visual sensors. Nevertheless, subterranean environments are characterized by a low natural illumination that directly affects the performance of the utilized visual algorithms. In this article, an novel extensive comparison study is presented among five State-of the-Art low light image enhancement algorithms for evaluating their performance and identifying further developments needed. The evaluation has been performed from datasets collected in real underground tunnel environments with challenging conditions from the onboard sensor of a MAV.


Low light imaging Image enhancement Subterranean MAV applications 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Christoforos Kanellakis
    • 1
    Email author
  • Petros Karvelis
    • 1
  • George Nikolakopoulos
    • 1
  1. 1.Robotics Team, Department of Computer, Electrical and Space EngineeringLuleå University of TechnologyLuleåSweden

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