The present disclosure describes devices and methods for generating RGB images from Bayer filter images using adaptive sub-pixel spatiotemporal interpolation. An electronic device includes a processor configured to estimate green values at red and blue pixel locations of an input Bayer frame based on green values at green pixel locations of the input Bayer frame and a kernel for green pixels, generate a green channel of a joint demosaiced-warped output RGB pixel from the input Bayer frame based on the green values at the green pixel locations, the kernel for green pixels, and an alignment vector map, and generate red and blue channels of the joint demosaiced-warped output RGB pixel from the input Bayer frame based on the estimated green values at the red and blue pixel locations, kernels for red and blue pixels, and the alignment vector map.