In one example, a method for glare and shadow mitigation by fusing multiple frames includes illuminating the target with light from a first illumination direction and capturing a first frame of the target with a camera while the target is illuminated in the first illumination direction. The method also includes illuminating the target with light from a second illumination direction and capturing a second frame of the target with the camera while the target is illuminated in the second illumination direction. The first frame and second frame are fused together to form a composite image that simultaneously mitigates glare and shadow areas.