1. A method of adjusting exposure of a digital camera based on range information, comprising: (a) a digital camera capturing a first digital image at a selected exposure of a scene having objects; (b) providing range information having two or more range values indicating the distance from the digital camera to objects in the scene; (c) applying a spatial filter to the range information to detect range edges, and using the range edges and pixel values of the captured digital image to determine an exposure adjustment amount for the selected exposure; and (d) applying the exposure adjustment amount to the digital image to produce a second digital image with adjusted exposure.