A method for generating a motion-compensated high-dynamic-range color image from a dual-exposure-time single-shot HDR color image sensor, comprising: Obtaining pixel values generated by a local region of respective sensor pixels of the dual-exposure-time single-shot HDR color image sensor, the local region corresponding to position of an image pixel of the motion-compensated HDR color image, the sensor pixels of the local region including, for each of three different colors, a plurality of short-exposure-time pixels and a plurality of long-exposure-time pixels sensitive to the respective color; and demosaicing the pixel values of the local region to determine, for each color, an output value of the image pixel from the short-exposure-time pixels and the long-exposure-time pixels. characterized by determining a motion parameter for the local region from the pixel values of the short-exposure-time pixels and the long-exposure-time pixels associated with a first color; and wherein relative contributions of the short-exposure-time pixels and the long-exposure-time pixels to the output value are weighted according to the motion parameter; and wherein the step of determining the motion parameter comprises: multiplying the pixel values of the short-exposure-time pixels, associated with the first color, with respective first fit weights according to a first model to determine a short-exposure-time first-color value for the image pixel; multiplying the pixel values of unsaturated ones of the long-exposure-time pixels associated with the first color with respective second fit weights according to a second model to determine a long-exposure-time first-color value for the image pixel; and calculating a disparity between the short-exposure-time first-color value and the long-exposure-time first-color value to determine the motion parameter, wherein (1212,1222) each of the first and second model is an increasing function with expected signal quality of the pixel value; or wherein (1214,1224) each of the first model and the second model is a two-dimensional polynomial function of sensor pixel location, and wherein the two-dimensional polynomial function is fitted to the pixel values and the output values of the two-dimensional polynomial function are the first fit weights or the second fit weights, respectively. Obtaining pixel values generated by a local region of respective sensor pixels of the dual-exposure-time single-shot HDR color image sensor, the local region corresponding to position of an image pixel of the motion-compensated HDR color image, the sensor pixels of the local region including, for each of three different colors, a plurality of short-exposure-time pixels and a plurality of long-exposure-time pixels sensitive to the respective color; and demosaicing the pixel values of the local region to determine, for each color, an output value of the image pixel from the short-exposure-time pixels and the long-exposure-time pixels. characterized by determining a motion parameter for the local region from the pixel values of the short-exposure-time pixels and the long-exposure-time pixels associated with a first color; and wherein relative contributions of the short-exposure-time pixels and the long-exposure-time pixels to the output value are weighted according to the motion parameter; and wherein the step of determining the motion parameter comprises: multiplying the pixel values of the short-exposure-time pixels, associated with the first color, with respective first fit weights according to a first model to determine a short-exposure-time first-color value for the image pixel; multiplying the pixel values of unsaturated ones of the long-exposure-time pixels associated with the first color with respective second fit weights according to a second model to determine a long-exposure-time first-color value for the image pixel; and calculating a disparity between the short-exposure-time first-color value and the long-exposure-time first-color value to determine the motion parameter, wherein (1212,1222) each of the first and second model is an increasing function with expected signal quality of the pixel value; or wherein (1214,1224) each of the first model and the second model is a two-dimensional polynomial function of sensor pixel location, and wherein the two-dimensional polynomial function is fitted to the pixel values and the output values of the two-dimensional polynomial function are the first fit weights or the second fit weights, respectively. multiplying the pixel values of the short-exposure-time pixels, associated with the first color, with respective first fit weights according to a first model to determine a short-exposure-time first-color value for the image pixel; multiplying the pixel values of unsaturated ones of the long-exposure-time pixels associated with the first color with respective second fit weights according to a second model to determine a long-exposure-time first-color value for the image pixel; and calculating a disparity between the short-exposure-time first-color value and the long-exposure-time first-color value to determine the motion parameter, wherein (1212,1222) each of the first and second model is an increasing function with expected signal quality of the pixel value; or wherein (1214,1224) each of the first model and the second model is a two-dimensional polynomial function of sensor pixel location, and wherein the two-dimensional polynomial function is fitted to the pixel values and the output values of the two-dimensional polynomial function are the first fit weights or the second fit weights, respectively.