1. A black-level restoration method, comprising: obtaining a first color image of a scene, the first color image having a first plurality of pixels, each of the first plurality of pixels having a value wherein at least some of the first plurality of pixels have negative values; determining a pedestal value of the first color image; removing the pedestal value from at least some of the first plurality of pixel values to generate a second color image; clipping pixel values of the second color image to a specified value to generate a third color image; determining an offset value based on the second and third color images; and adjusting the first color image's pixel values in accordance with the offset value to generate a fourth color image.