acquiring a first image frame captured at a high illumination, the first image frame including an image of a high-reflectivity object and a low-reflectivity object, the image of the high-reflectivity object being saturated;

acquiring a second image frame captured at a reduced illumination, the second image frame including an image of the high-reflectivity object, with the low-reflectivity object being invisible;

identifying a saturation region on the first image frame;

performing a cross-correlation operation between the identified saturation region and a corresponding region on the second image frame to identify a region in the saturation region;

replacing the identified region in the saturation region with a corresponding region in the second image frame;

performing one or more cross-correlation operations to update the remainder of the saturation region with a corresponding region of the second image frame; and

after each cross-correlation, performing a gradient step with respect to intensity data and range data related to the remainder of the saturation region to denoise the updated remainder of the saturation region.