A system comprising: a first camera mounted on a vehicle in order to capture images of the vehicle's environment, the first camera having a first exposure time and being without a neutral density, ND, filter; a second camera mounted on the vehicle in order to capture images of the vehicle's environment, the second camera having a second exposure time that is greater than or equal to the first exposure time and having a neutral density, ND, filter; one or more processors configured to: capture images of the vehicle's environment using the first camera and the first exposure time, the images captured using the first camera comprising a series of light exposure images and dark exposure images captured at different exposure values; capture images of the vehicle's environment using the second camera and the second exposure time; identify, from the images captured using the second camera, illuminated objects in the environment, wherein the identified illuminated objects comprise a pulse-width modulated, PWM, light source or a light source which flickers at a rate defined by a power grid that supplies power to the light source; identify, from the images captured using the first camera, locations of objects in the environment; and control, based on the identified illuminated objects and the identified locations of objects, the vehicle in an autonomous driving mode. a first camera mounted on a vehicle in order to capture images of the vehicle's environment, the first camera having a first exposure time and being without a neutral density, ND, filter; a second camera mounted on the vehicle in order to capture images of the vehicle's environment, the second camera having a second exposure time that is greater than or equal to the first exposure time and having a neutral density, ND, filter; one or more processors configured to: capture images of the vehicle's environment using the first camera and the first exposure time, the images captured using the first camera comprising a series of light exposure images and dark exposure images captured at different exposure values; capture images of the vehicle's environment using the second camera and the second exposure time; identify, from the images captured using the second camera, illuminated objects in the environment, wherein the identified illuminated objects comprise a pulse-width modulated, PWM, light source or a light source which flickers at a rate defined by a power grid that supplies power to the light source; identify, from the images captured using the first camera, locations of objects in the environment; and control, based on the identified illuminated objects and the identified locations of objects, the vehicle in an autonomous driving mode. capture images of the vehicle's environment using the first camera and the first exposure time, the images captured using the first camera comprising a series of light exposure images and dark exposure images captured at different exposure values; capture images of the vehicle's environment using the second camera and the second exposure time; identify, from the images captured using the second camera, illuminated objects in the environment, wherein the identified illuminated objects comprise a pulse-width modulated, PWM, light source or a light source which flickers at a rate defined by a power grid that supplies power to the light source; identify, from the images captured using the first camera, locations of objects in the environment; and control, based on the identified illuminated objects and the identified locations of objects, the vehicle in an autonomous driving mode.