2d image brightness

hello, i have laser scanner that is actually giving me 2 d brightness image, but the brightness image in outdoor environment is not clear at all it is mostly dark, how can i make it clear so that i get better result , i think it is due to the noise that is effecting my data .how can i improve the quality of my brightness image. please note that its not a grayscale image its an active brightness image.

[Image Analyst]

Post an image somewhere, such as tinypic.com, so we can figure out what you're talking about. And explain what the difference between a "grayscale image" and "an active brightness image" is because I don't know - I just assume all images are digital arrays where the pixel value represents the "brightness" (either reflectance or emittance) of your scene.

[developer]

I have put the sample data that i get in indoor and outdoor, it contains depth image, gray image and 3d cloud in both indoor and outdoor

http://s1204.photobucket.com/albums/bb403/attayyabkhan/3d%20data/?albumview=slideshow

[Walter Roberson]

You still haven't explained the difference between grayscale image and "active brightness image" -- and in your description you yourself call it "gray image" when the image is labelled as being an active brightness image ?