This application provides a
night vision imaging enhancement method, apparatus, electronic device, and readable storage medium. The method includes: calibrating the coordinate systems of a visible light camera and a near-
infrared camera into the coordinate
system of a
lidar to obtain calibration results; acquiring visible light images,
infrared images, and 3D
point cloud data of the environment in front of the vehicle using the visible light camera, near-
infrared camera, and
lidar; registering the visible light image and
infrared image based on the calibration results and using depth information from the 3D
point cloud data; extracting texture information from the registered image, separating the structure layer and texture layer of each image; classifying the separated texture
layers of each image, distinguishing between noisy textures and
noise-free textures, and filtering out
noise in the noisy textures using a joint bilateral filtering
algorithm; and fusing the
noise-filtered texture layer and structure layer in the HSV
color space to generate an enhanced
night vision image. This method improves the safety of nighttime driving.