A method for enhancing underwater imaging affected by image degradation effects, the method comprising: acquiring at least one image of an underwater scene using an imaging device; determining information regarding distances of parts of the scene relative to the imaging device; and reconstructing an image of the underwater scene using a physics-based mathematical model, compensating image characteristics influenced by distance-dependent underwater degradation effects including veiling light, using the information on the distances of parts of the scene from the imaging device, and compensating distance-dependent underwater degradation effects relating to the distance of illumination sources from the scene.