System and method for maximization of image resolution and monocular depth estimation

A system comprising:

• data processing hardware;
• and
• memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising:
• receiving image data captured by a sensor system of a vehicle and indicating an object in an object field of the vehicle, the sensor system comprising a plurality of micro-lenses and a pixel, each micro-lens of the plurality of micro-lenses corresponding to a sub-pixel of the pixel, each sub-pixel of the pixel having a plurality of phase-pixels;
• identifying a respective phase ratio of:
• the pixel;
• each of the sub-pixels of the pixel;
• and
• each phase-pixel of the plurality of phase-pixels;
• identifying, based on the respective phase ratios of each of the phase-pixels, a depth of the object in the object field of the vehicle;
• estimating an edge of the object in the object field of the vehicle;
• rearranging the phase-pixels of the pixel to generate a transformed image file of the object;
• and
• generating, for output to a viewing stack and a perception stack, the transformed image file of the object.