GENERATING VIRTUAL IMAGES BASED ON CAPTURED IMAGE DATA

Systems and methods for generating a virtual view of a virtual camera based on an input image are described. A system for generating a virtual view of a virtual camera based on an input image can include a capturing device including a physical camera and a depth sensor. The system also includes a controller configured to determine an actual pose of the capturing device; determine a desired pose of the virtual camera for showing the virtual view; define an epipolar geometry between the actual pose of the capturing device and the desired pose of the virtual camera; and generate a virtual image depicting objects within the input image according to the desired pose of the virtual camera for the virtual camera based on an epipolar relation between the actual pose of the capturing device, the input image, and the desired pose of the virtual camera.