An example method of multi-target automatic exposure and gain control based on pixel intensity distribution includes capturing a series of digital images with an image sensor. As the series of digital images are captured, exposure time and/or gain are adjusted to adjust a mean intensity value of the digital images until a target mean intensity value is reached. The method includes dynamically selecting the target mean intensity value from a plurality of target mean intensity values based on a relative number of pixels, in each captured digital image, that have an intensity value that falls outside a range of intensity values.