A method for video denoising, the method includes extracting a current pixel from a current video frame and n−1 pixels from respective n−1 previous video frames to form an n-point pixel data set, wherein the current pixel has an initial value; temporally filtering the current pixel using the n-point pixel data set to generate a temporal estimated true value for the pixel; estimating a quantity of outliers in the n-point pixel data set; if the quantity of outliers is greater than or equal to a threshold, spatially filtering the current pixel using neighboring pixels in the current video frame to generate an spatial estimated true value for the pixel, and using the spatial estimated true value for the pixel as a final estimated value for the pixel; if the quantity of outliers is less than the threshold, using the temporal estimated true value for the pixel as the final estimated value for the pixel.