Digital images contain few orders of magnitude smaller dynamic range than capabilities of a human eye. High dynamic range allows for perception of more details under wide lighting variations. Therefore acquisition of high dynamic range images is of high importance. However, the process of collecting of images at various exposures, then joining them together is not an easy one. Not always it is even possible to acquire a series of images of different exposures. However, even a single image due

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... not perfect conditions of acquisition usually contains much more information than available on the first sight. In this paper we show a method of so called virtual high dynamic range imaging formation which allows for obtaining at least virtually higher dynamical range just from an image acquired at a single exposure. Thanks to this the images convey more discriminative information as it is shown in the case of navigation of the underwater drone.