Systems and methods for adding persistence to single photon avalanche diode imagery

A system for adding persistence to single photon avalanche diode (SPAD) imagery, the system comprising:

• one or more processors;
• and
• one or more hardware storage devices storing instructions that are executable by the one or more processors to configure the system to add persistence to SPAD imagery by configuring the system to:
• access a plurality of sequentially captured image frames;
• access pose data associated with the plurality of sequentially captured image frames, the pose data comprising at least respective pose data associated with each of the plurality of sequentially captured image frames;
• generate a plurality of spatially aligned sequentially captured image frames by spatially aligning each of the plurality of sequentially captured image frames with one another using the pose data;
• measure a dissimilarity between at least a first image frame and at least a second image frame of the plurality of spatially aligned sequentially captured image frames, wherein the second image frame is associated with a capture timepoint that is subsequent to a capture timepoint associated with the first image frame;
• determine a persistence term based on the dissimilarity, wherein the persistence term comprises a weighting term and one or more terms defining (i) alpha blending or (ii) smoothness;
• and
• generate a composite image based on the plurality of spatially aligned sequentially captured image frames and the persistence term, wherein the persistence term defines a contribution of each of the plurality of spatially aligned sequentially captured image frames to the composite image.

A system for adding persistence to single photon avalanche diode (SPAD) imagery, the system comprising:

• one or more processors;
• and
• one or more hardware storage devices storing instructions that are executable by the one or more processors to configure the system to add persistence to SPAD imagery by configuring the system to:
• access a plurality of sequentially captured image frames;
• access pose data associated with the plurality of sequentially captured image frames, the pose data comprising at least respective pose data associated with each of the plurality of sequentially captured image frames, the pose data representing an amount of motion associated with a capturing of the plurality of sequentially captured image frames;
• identify a subset of image frames from the plurality of sequentially captured image frames, wherein a quantity of image frames selected for inclusion in the subset of image frames is determined based on the amount of motion represented by the pose data, wherein the amount of motion is negatively correlated with the quantity of image frames selected for inclusion in the subset of image frames;
• and
• generate a composite image using the subset of image frames from the plurality of sequentially captured image frames while refraining from using one or more image frames of the plurality of sequentially captured image frames that are not included in the subset of image frames.

A system for adding persistence to single photon avalanche diode (SPAD) imagery, the system comprising:

• one or more processors;
• and
• one or more hardware storage devices storing instructions that are executable by the one or more processors to configure the system to add persistence to SPAD imagery by configuring the system to:
• access a plurality of sequentially captured image frames, each image frame of the plurality of sequentially captured image frames being associated with a respective capture timepoint;
• measure a brightness of at least a portion of a particular image frame of the plurality of sequentially captured image frames;
• determine a persistence term for the portion of the particular image frame based on the brightness of the portion of the particular image frame;
• and
• generate a composite image based on the plurality of spatially aligned sequentially captured image frames and the persistence term, wherein the persistence term defines a contribution of each of the plurality of sequentially captured image frames to the composite image.