1. A method for image processing comprising: receiving raw image data from at least one imaging device; computing at least one image depth distance from the raw image data; computing one or more image validity flags from the raw image data; generating at least one data validity mask from the one or more image validity flags; determining a background imagery estimation from the at least one image depth distance; generating at least one foreground mask from the background imagery estimation and the at least one image depth distance; generating at least one region-of-interest mask from the at least one data validity mask and the at least one foreground mask using prioritized rules that indicate conditions for assigning values to elements of the at least one region-of-interest mask based on corresponding values of elements of the at least one data validity mask and corresponding values of elements of the at least one foreground mask; and generating filtered raw image data from the raw image data and the at least one region of interest mask.