A method for adjusting the brightness of objects in a digital image using range information that includes distances of pixels in the scene from a reference location, the method comprising: generating a cluster map based at least upon an analysis of the range information and the digital image, the cluster map grouping pixels of the digital image by their distances from the reference location; detecting a plurality of objects in the digital image based at least upon an analysis of the cluster map and the digital image; determining a brightness adjustment amount for each object; and applying the brightness adjustment amounts to the detected objects to form a modified digital image with adjusted brightnesses.