An imaging device operates as an event camera. The device includes an event sensor and a controller. The sensor comprises a plurality of photodiodes that asynchronously output data values corresponding to relative intensity changes within a local area. The controller populates an event matrix based in part on data values asynchronously received from the sensor and positions of photodiodes associated with the received data values over a first time period. The controller populates a change matrix based in part on a threshold intensity value and the photodiodes associated with the received data values over the first time period, and generates an image for the first time period using the event matrix and the change matrix.