Expanded field of view using multiple cameras

A method, comprising:

• capturing, by one or more primary cameras, one or more first images of an environment;
• capturing, by one or more secondary cameras, one or more second images of the environment from different viewpoints than the one or more primary cameras;
• and
• performing, by one or more processors:
• determining depth information for the one or more first images;
• extending the depth information outward from one or more edges of the one or more first images to generate an expanded region;
• and
• reprojecting pixel data from the one or more second images into the expanded region to generate an expanded field of view (FoV) image of a scene in the environment.

A device, comprising:

• two front-facing cameras configured to capture stereo images of a scene in an environment;
• at least one camera on at least two sides of the device configured to capture additional images of the scene;
• and
• one or more processors configured to render expanded field of view (FoV) stereo images of the scene, wherein, to render the expanded FoV stereo images, the one or more processors are configured to:
• determine depth information for the stereo images captured by the front-facing cameras;
• extend the depth information outward from the one or more edges of each of the stereo images for a first distance to generate a second layer, wherein the stereo images are a first layer;
• extend a median depth determined from the depth information outward from one or more edges of the second layer for a second distance to generate a third layer;
• reproject pixel data from the images captured by at least one camera on a first side of the device into the second and third layers around an image captured by a first one of the two front-facing cameras;
• and
• reproject pixel data from the images captured by at least one camera on a second side of the device into the second and third layers around an image captured by a second one of the two front-facing cameras.