A method for generating a high-dynamic range image, the method comprises: determining to adjust a light intensity of a light source (331, 332) illuminating a scene to be captured by an image-capturing device in two upcoming image frames (313, 314), wherein the light intensity is to be adjusted between the two upcoming image frames (313, 314) to be captured, wherein the determining is based on a determination that the dynamic range of the scene is larger than a threshold value defined by the dynamic range of the image-capturing device or by the dynamic range of a previously high-dynamic range image frame generated by the method and wherein the upcoming image frames are consecutive image frames, instructing a controller (350, 360) of the light source (331, 332) to control the light source (331, 332) to output a first intensity of light while an image-capturing device captures a scene in a first upcoming image frame with a first exposure value setting influencing a first exposure value of an image sensor of the image-capturing device, instructing the controller (350, 360) of the light source (331, 332) to control the light source (331, 332) to change from the first intensity of light to a second intensity of light such that the light source (331, 332) outputs the second intensity of light while the image-capturing device captures the scene with a second upcoming image frame with a second exposure value setting influencing a second exposure value of the image sensor wherein the second exposure value setting differs from the first exposure value setting, wherein the second intensity of light is higher than the first intensity of light when the second exposure value setting is higher than the first exposure value setting, and wherein the second intensity of light is lower than the first intensity of light when the second exposure value setting is lower than the first exposure value setting, wherein a high exposure value setting corresponds to a high exposure value of the image sensor, and stitching the first upcoming image frame with the second upcoming image frame into a high-dynamic range image frame. determining to adjust a light intensity of a light source (331, 332) illuminating a scene to be captured by an image-capturing device in two upcoming image frames (313, 314), wherein the light intensity is to be adjusted between the two upcoming image frames (313, 314) to be captured, wherein the determining is based on a determination that the dynamic range of the scene is larger than a threshold value defined by the dynamic range of the image-capturing device or by the dynamic range of a previously high-dynamic range image frame generated by the method and wherein the upcoming image frames are consecutive image frames, instructing a controller (350, 360) of the light source (331, 332) to control the light source (331, 332) to output a first intensity of light while an image-capturing device captures a scene in a first upcoming image frame with a first exposure value setting influencing a first exposure value of an image sensor of the image-capturing device, instructing the controller (350, 360) of the light source (331, 332) to control the light source (331, 332) to change from the first intensity of light to a second intensity of light such that the light source (331, 332) outputs the second intensity of light while the image-capturing device captures the scene with a second upcoming image frame with a second exposure value setting influencing a second exposure value of the image sensor wherein the second exposure value setting differs from the first exposure value setting, wherein the second intensity of light is higher than the first intensity of light when the second exposure value setting is higher than the first exposure value setting, and wherein the second intensity of light is lower than the first intensity of light when the second exposure value setting is lower than the first exposure value setting, wherein a high exposure value setting corresponds to a high exposure value of the image sensor, and stitching the first upcoming image frame with the second upcoming image frame into a high-dynamic range image frame.