A system and method for operating a Vehicle to Infrastructure (V2I) system. The method includes receiving images from an infrared (IR) camera, determining whether a non-uniform noise exists within the received images, performing a calibration, upon determining that the non-uniform noise exists, performing a Non-Uniformity Correction (NUC) on the IR, upon determining that there is residual non-uniform noise, after performing the calibration, and determining that the IR camera has not detected a moving object that is approaching the IR camera, determining whether a Field of View (FOV) of the IR camera is occluded, after performing the NUC, and cleaning the IR camera, upon determining that the FOV of the infrared camera is occluded.