Detecting an Occlusion of an Image Sensor

An electronic device comprising:

• a display;
• an image sensor;
• one or more processors;
• a non-transitory memory;
• and
• one or more programs stored in the non-transitory memory, which, when executed by the one or more processors, cause the device to;
• obtain, via the image sensor, a plurality of images of a physical environment of the electronic device while the electronic device is moving;
• detect an occlusion of the image sensor based on a repeated occurrence of a static feature across the plurality of images;
• and
• modify a weight associated with the static feature to decrease an impact of the occlusion on a performance of a function.

A non-transitory memory storing one or more programs, which, when executed by one or more processors of a device with an image sensor, cause the device to:

• obtain, via the image sensor, a plurality of images of a physical environment of the electronic device while the electronic device is moving;
• detect an occlusion of the image sensor based on a repeated occurrence of a static feature across the plurality of images;
• and
• modify a weight associated with the static feature to decrease an impact of the occlusion on a performance of a function.