A method for controlling exposure of a camera is disclosed. The method comprises calculating a darkness level and a saturation level with respect to a first image in a video sequence. If the saturation level exceeds a first limit, a target value for a mean intensity value of pixels in images captured by the camera is decreased by an amount which is an increasing function of the darkness level. The decreased target value is used to control the exposure of the camera for images subsequent to the first image in the video sequence, such that the mean intensity value of pixels in the subsequent images approaches the decreased target value.