A high dynamic range, HDR, imaging device comprising: an image sensor configured to capture a plurality of low dynamic range, LDR, images; an aligned event sensor with pixels configured to capture a plurality of events between the plurality of LDR images, wherein each pixel is configured to trigger an event when a change of intensity of the pixel crosses a threshold; an image encoder module configured to generate an image feature representation based on each of the LDR images; an event encoder module configured to generate an event feature representation based on a subset of the plurality of events associated with each of the LDR images; a feature alignment module (114, 200) configured to: estimate per-pixel offsets between the image feature representation of a specified LDR image and the image feature representations of each other LDR image, based on the image and event feature representations of each LDR image, and generate a plurality of aligned feature representations (206A, 206B) by applying deformable convolutions (208A, 208B) or feature warping to the image feature representations of each other LDR image based on the estimated offsets; a fusion module configured to generate a fused feature representation where each pixel is selected from one or more of the plurality of aligned feature representations (206A, 206B); and an image decoder module configured to generate a HDR image based on the fused feature representation. an image sensor configured to capture a plurality of low dynamic range, LDR, images; an aligned event sensor with pixels configured to capture a plurality of events between the plurality of LDR images, wherein each pixel is configured to trigger an event when a change of intensity of the pixel crosses a threshold; an image encoder module configured to generate an image feature representation based on each of the LDR images; an event encoder module configured to generate an event feature representation based on a subset of the plurality of events associated with each of the LDR images; a feature alignment module (114, 200) configured to: estimate per-pixel offsets between the image feature representation of a specified LDR image and the image feature representations of each other LDR image, based on the image and event feature representations of each LDR image, and generate a plurality of aligned feature representations (206A, 206B) by applying deformable convolutions (208A, 208B) or feature warping to the image feature representations of each other LDR image based on the estimated offsets; estimate per-pixel offsets between the image feature representation of a specified LDR image and the image feature representations of each other LDR image, based on the image and event feature representations of each LDR image, and generate a plurality of aligned feature representations (206A, 206B) by applying deformable convolutions (208A, 208B) or feature warping to the image feature representations of each other LDR image based on the estimated offsets; a fusion module configured to generate a fused feature representation where each pixel is selected from one or more of the plurality of aligned feature representations (206A, 206B); and an image decoder module configured to generate a HDR image based on the fused feature representation.