1. A method of motion-compensated temporal filtering comprising: determining, by a processor having memory, a pixel-related residue image based on a set of differences between a current pixel intensity of a current frame and a corresponding pixel intensity of a previous frame, wherein the corresponding pixel intensity is augmented by a motion-compensated vector of the previous frame; determining an intensity weight based on the determined pixel-related residue image and a filtering parameter; and filtering the pixel intensity of the current frame based on the determined intensity weight and the motion compensated vector of the previous frame.