A system (200; 230) comprising: an image sensor (214, 216; 242, 244) configured to capture an image; and a processing apparatus (212; 262) configured to: receive the image from the image sensor (214, 216; 242, 244); apply a bilateral filter to the image to obtain a low-frequency component image and a high-frequency component image; determine a first enhanced image based on a weighted sum of the low-frequency component image and the high-frequency component image, where the high-frequency component image is weighted more heavily than the low-frequency component image; determine a second enhanced image based on the first enhanced image and a tone mapping; and characterized in that the processing apparatus is further configured to determine a perceptual domain image based on the second enhanced image and a gamma curve that models human perception of contrast; determine a low-frequency component perceptual domain image and a high-frequency component perceptual domain image as components of the perceptual domain image; determine a third enhanced image based on a weighted sum of the low-frequency component perceptual domain image and the high-frequency component perceptual domain image, where the high-frequency component perceptual domain image is weighted more heavily than the low-frequency component perceptual domain image; and store, display, or transmit an output image based on the third enhanced image. an image sensor (214, 216; 242, 244) configured to capture an image; and a processing apparatus (212; 262) configured to: receive the image from the image sensor (214, 216; 242, 244); apply a bilateral filter to the image to obtain a low-frequency component image and a high-frequency component image; determine a first enhanced image based on a weighted sum of the low-frequency component image and the high-frequency component image, where the high-frequency component image is weighted more heavily than the low-frequency component image; determine a second enhanced image based on the first enhanced image and a tone mapping; and characterized in that the processing apparatus is further configured to determine a perceptual domain image based on the second enhanced image and a gamma curve that models human perception of contrast; determine a low-frequency component perceptual domain image and a high-frequency component perceptual domain image as components of the perceptual domain image; determine a third enhanced image based on a weighted sum of the low-frequency component perceptual domain image and the high-frequency component perceptual domain image, where the high-frequency component perceptual domain image is weighted more heavily than the low-frequency component perceptual domain image; and store, display, or transmit an output image based on the third enhanced image. receive the image from the image sensor (214, 216; 242, 244); apply a bilateral filter to the image to obtain a low-frequency component image and a high-frequency component image; determine a first enhanced image based on a weighted sum of the low-frequency component image and the high-frequency component image, where the high-frequency component image is weighted more heavily than the low-frequency component image; determine a second enhanced image based on the first enhanced image and a tone mapping; and characterized in that the processing apparatus is further configured to determine a perceptual domain image based on the second enhanced image and a gamma curve that models human perception of contrast; determine a low-frequency component perceptual domain image and a high-frequency component perceptual domain image as components of the perceptual domain image; determine a third enhanced image based on a weighted sum of the low-frequency component perceptual domain image and the high-frequency component perceptual domain image, where the high-frequency component perceptual domain image is weighted more heavily than the low-frequency component perceptual domain image; and store, display, or transmit an output image based on the third enhanced image.