Vehicles operating in a water medium sometimes encounter harsh conditions with high turbidity and low scene illumination, making it challenging to obtain reliable target information through optical devices. Although many post-processing solutions were proposed, they are not applicable to continuous vehicle operations. Inspired by the advanced polarimetric hardware technology, a joint fast algorithm was developed in this study to address the above problems. Backscatter attenuation and direct signal attenuation were solved separately by utilizing the revised underwater polarimetric image formation model. A fast local adaptive Wiener filtering method was used to improve the backscatter estimation by reducing the additive noise. Further, the image was recovered using the fast local space average color method. By using a low-pass filter guided by the color constancy theory, the problems of nonuniform illumination caused by artificial light and direct signal attenuation were both addressed. The results of testing on images from laboratory experiments showed improved visibility and realistic chromatic rendition.