1. A method comprising: generating a global lighting value that describes a global lighting level for a plurality of optical sensors based on a plurality of inputs received from the plurality of optical sensors, the global lighting value determined based on a comparison of a histogram indicating pixel intensity in the image to pre-trained histograms, each of the pre-trained histograms representative of a class indicative of a respective global lighting value; generating an illumination map that describes local lighting conditions of respective ones of the plurality of optical sensors based on the plurality of inputs received from the plurality of optical sensors; and performing object detection using an image captured using the plurality of optical sensors along with the global lighting value and the illumination map.