A method of producing video images that are independent of the background lighting, the method comprising: a) illuminating a scene, wherein the illumination is comprised of unknown background illumination and sinusoidally modulated illumination that oscillates at a unique frequency, different from the frequency of the background illumination and that is not synchronized with a camera sensor, wherein the background illumination changes unexpectedly in time and space, thereby creating non-uniform color and intensity; b) capturing with the camera sensor a plurality of N consecutive frames in time containing images of the scene; wherein: A. the following steps are carried out on the images in the N consecutive frames: c) determining the amplitudes of the radiance of corresponding pixels in the N consecutive frames; d) removing the background lighting by applying an FIR filter configured to determine the amplitude of the radiance of a single processed pixel from the amplitudes of the radiance of corresponding pixels in the N consecutive frames; e) repeating steps 'c' and 'd' for all pixels in the N consecutive frames; and f) assembling all of the processed pixels to form a processed image that is independent of the background illumination; B. the number N of consecutive frames is chosen such that N multiplied by the frame rate of the camera divided by the frequency of the sinusoidally modulated illumination is close to an integer. a) illuminating a scene, wherein the illumination is comprised of unknown background illumination and sinusoidally modulated illumination that oscillates at a unique frequency, different from the frequency of the background illumination and that is not synchronized with a camera sensor, wherein the background illumination changes unexpectedly in time and space, thereby creating non-uniform color and intensity; b) capturing with the camera sensor a plurality of N consecutive frames in time containing images of the scene; wherein: A. the following steps are carried out on the images in the N consecutive frames: c) determining the amplitudes of the radiance of corresponding pixels in the N consecutive frames; d) removing the background lighting by applying an FIR filter configured to determine the amplitude of the radiance of a single processed pixel from the amplitudes of the radiance of corresponding pixels in the N consecutive frames; e) repeating steps 'c' and 'd' for all pixels in the N consecutive frames; and f) assembling all of the processed pixels to form a processed image that is independent of the background illumination; B. the number N of consecutive frames is chosen such that N multiplied by the frame rate of the camera divided by the frequency of the sinusoidally modulated illumination is close to an integer. A. the following steps are carried out on the images in the N consecutive frames: c) determining the amplitudes of the radiance of corresponding pixels in the N consecutive frames; d) removing the background lighting by applying an FIR filter configured to determine the amplitude of the radiance of a single processed pixel from the amplitudes of the radiance of corresponding pixels in the N consecutive frames; e) repeating steps 'c' and 'd' for all pixels in the N consecutive frames; and f) assembling all of the processed pixels to form a processed image that is independent of the background illumination; c) determining the amplitudes of the radiance of corresponding pixels in the N consecutive frames; d) removing the background lighting by applying an FIR filter configured to determine the amplitude of the radiance of a single processed pixel from the amplitudes of the radiance of corresponding pixels in the N consecutive frames; e) repeating steps 'c' and 'd' for all pixels in the N consecutive frames; and f) assembling all of the processed pixels to form a processed image that is independent of the background illumination; B. the number N of consecutive frames is chosen such that N multiplied by the frame rate of the camera divided by the frequency of the sinusoidally modulated illumination is close to an integer.