Motion compensation for a spad array camera

An imaging device, comprising:

• a single photon avalanche detector (SPAD) array camera comprising a plurality of pixels:
• a motion sensor;
• a logic machine;
• and
• a storage machine comprising instructions executable by the logic machine to produce an image by:
• acquiring a plurality of subframes of image data, each subframe of image data comprising a binary value for each pixel, the plurality of subframes comprising a first subframe and a second subframe;
• based upon motion data from the motion sensor, determining a change in pose of the imaging device between the first subframe and the second subframe;
• applying a positional offset to the second subframe based upon the motion data to align a location of a stationary imaged feature in the second subframe with a location of the stationary imaged feature in the first subframe to create aligned subframes;
• summing the aligned subframes to form an image;
• and
• outputting the image.

An imaging device, comprising:

• a single photon avalanche detector (SPAD) array camera comprising a plurality of pixels:
• a motion sensor;
• a logic machine;
• and
• a storage machine comprising instructions executable by the logic machine to produce an image by:
• acquiring a plurality of subframes of image data, each subframe of image data comprising a binary value for each pixel, the plurality of subframes comprising a first subframe and a second subframe;
• determining a motion vector for one or more pixels of a subframe based upon sequential subframes;
• aligning a portion of the second subframe comprising the one or more pixels with a corresponding portion of the first subframe based at least on the one or more motion vectors by applying an offset to the portion of the subframe to form aligned subframes;
• after aligning the portion of the second subframe with the corresponding portion of the first subframe, summing the plurality of subframes of image data to form the image;
• and
• outputting the image.