Display system and method of using environment map to generate extended-reality images

A display system including display or projector , camera, means for tracking position and orientation of user's head, and processor. The processor is configured to control camera to capture images of real-world environment using default exposure setting, whilst processing head-tracking data to determine corresponding positions and orientations of user's head with respect to which images are captured; process images to create environment map of real-world environment; generate extended-reality image from images using environment map; render extended-reality image; adjust exposure of camera to capture underexposed image of real-world environment; process images to generate derived image; generate next extended-reality image from derived image using environment map; render next extended-reality image; and identify and modify intensities of oversaturated pixels in environment map, based on underexposed image and position and orientation with respect to which underexposed image is captured.