Systems and methods are provided, having sensing unit(s) configured to capture images of a surrounding of a vehicle, and a processing unit connected to a database which is configured to store imaging data relating to the surrounding of the vehicle together with metadata relating to capturing parameters of the stored imaging data. The processing unit enhances the captured images with stored imaging data according to a correspondence of metadata with vehicle situations, for example, according to a relation between capturing parameters of different sensing units. Sensing unit(s) may be gated infrared to indicate specified reflectivity parameters of regions in the captured images. Sensing unit(s) may comprise a controller applying changing patterned filters to the pixel array to enhance visibility and other image features. Multiple sensing units with gateable infrared sensors may communicate using modulated illumination spots.