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I'd be tempted to say that the footage is unsalvageable. I've tried to do similar things with pictures that have poor lighting, and by increasing the exposure, all it does is make the image grainy. The only sort of program that might be able to help is some high-end post-processing facility like Adobe After Effects, but even then I doubt the results would be particularly good.
The best solution is to make sure that, during the filming, you flood your subject with plenty of light. Some friends and I do amateur filming, so we bought a couple of halogen lamps and some large white card to use as a bounce. Aim the light away from the subject and put the bounce in front of it to reflect the light back.
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