Method for representing a harmonized obscured area of an environment of a mobile platform

A method for representing an obscured area of an environment of a mobile platform in respect to an object area of a first and a second imaging device of the mobile platform, the method comprising:

• determining a delta-area, being a difference of a second obscured area of the environment, which is obscured in respect to the object area of the first and second imaging device at a second time step, and a first obscured area of the environment which is obscured in respect to the object area of the first and second imaging device at a first time step;
• determining a first overlap-image and a second overlap-image, being an overlap of an image of the first imaging device respectively of an image of the second imaging device with the delta-area;
• determining a difference of an optical property of the images of the first and the second imaging device;
• and
• harmonizing the difference of the optical property within at least one of the overlap-images,
• wherein at least one of the first overlap image or the second overlap-image is harmonized in respect to an optical propert gradient defined by the difference of the optical property and a portion of a length of the first obscured area, and
• wherein the harmonization of the at least one of the first overlap-image or the second overlap-image includes adjusting an optical property value of each pixel of the first or second overlap-image corresponding to the optical property value and a direction of the optical property gradient.