1. A method of processing an image of a visual scene, comprising: a. acquiring at least one image of a visual scene, wherein said at least one image comprises a plurality of pixels; b. acquiring or determining a range map comprising at least one distance value associated with at least one pixel of said plurality of pixels, wherein said at least one distance value comprises a measure of distance relative to an associated at least one camera used to acquire said at least one image; c. calculating a range histogram from said range map, wherein said range histogram accounts for every pixel of said at least one image, said range histogram comprises a vector, each element of said vector is associated with a different corresponding range of values of said at least one distance value, and each said element of said vector comprises a count of elements of said range map for which said at least one distance value of said range map is within said corresponding range of values of said at least one distance value; d. associating each element of said range map counted by said element of said vector with at least one of a corresponding pixel of said plurality of pixels; e. operating on said range histogram; and f. operating on at least one of said at least one of said corresponding pixel of said plurality of pixels associated with said element of said range map responsive to the operation of operating on said range histogram.