Abstract: In one embodiment, a computing system may receive sensor data from an image sensor having a pixel array including color pixel sensors and panchromatic pixel sensors in a first pattern. Each of the color pixel sensors is associated with one of several color channels. The computing system may generate, based on the sensor data, a filtered monochrome image including monochrome values corresponding to the pixel array of the image sensor. The computing system may generate a filtered color image having a second pattern of color channels. A first pixel of a particular color channel at a first pixel location in the filtered color image is determined based on the monochrome value corresponding to the first pixel location in the filtered monochrome image, the sensor data measured by a color pixel sensor at a second pixel location, and the monochrome value at the second pixel location in the filtered monochrome image.