An image generating method comprising: generating a first image based on first event signals that are output from an event-based vision sensor (110, 1310, 1410) during a first time period and stored in a buffer (130, 1320, 1430); generating a second image (233, 235) based on second event signals that are output from the event-based vision sensor (110, 1310, 1410) during a second time period and stored in the buffer (130, 1320, 1430); and aligning the first image and the second image(233, 235) to generate a third image; characterized in that the generating the first image comprises: extracting the stored first event signals from the buffer (130, 1320, 1430) in an inverse order of time at which an event is sensed; determining a threshold for the first image based on x- and y-axial dispersion of the extracted first event signals; determining whether a number of the extracted first event signals is greater than the threshold; and extracting, from the buffer (130, 1320, 1430), one or more additional event signals that are stored in the buffer (130, 1320, 1430) in an inverse order of time at which an event is sensed, in response to the determining that the number of the extracted first event signals is less than or equal to the threshold; or in that the generating the second image (233, 235) comprises: extracting the stored second event signals from the buffer in an inverse order of time at which an event is sensed; determining a threshold for the second image (233, 235) based on x- and y-axial dispersion of the extracted second event signals; determining whether a number of the extracted second event signals is greater than the threshold; and extracting, from the buffer (130, 1320, 1430), one or more additional event signals that are stored in the buffer (130, 1320, 1430) in an inverse order of time at which an event sensed, in response to the determining that the number of the extracted second event signals is less than or equal to the threshold. generating a first image based on first event signals that are output from an event-based vision sensor (110, 1310, 1410) during a first time period and stored in a buffer (130, 1320, 1430); generating a second image (233, 235) based on second event signals that are output from the event-based vision sensor (110, 1310, 1410) during a second time period and stored in the buffer (130, 1320, 1430); and aligning the first image and the second image(233, 235) to generate a third image; characterized in that the generating the first image comprises: extracting the stored first event signals from the buffer (130, 1320, 1430) in an inverse order of time at which an event is sensed; determining a threshold for the first image based on x- and y-axial dispersion of the extracted first event signals; determining whether a number of the extracted first event signals is greater than the threshold; and extracting, from the buffer (130, 1320, 1430), one or more additional event signals that are stored in the buffer (130, 1320, 1430) in an inverse order of time at which an event is sensed, in response to the determining that the number of the extracted first event signals is less than or equal to the threshold; extracting the stored first event signals from the buffer (130, 1320, 1430) in an inverse order of time at which an event is sensed; determining a threshold for the first image based on x- and y-axial dispersion of the extracted first event signals; determining whether a number of the extracted first event signals is greater than the threshold; and extracting, from the buffer (130, 1320, 1430), one or more additional event signals that are stored in the buffer (130, 1320, 1430) in an inverse order of time at which an event is sensed, in response to the determining that the number of the extracted first event signals is less than or equal to the threshold; or in that the generating the second image (233, 235) comprises: extracting the stored second event signals from the buffer in an inverse order of time at which an event is sensed; determining a threshold for the second image (233, 235) based on x- and y-axial dispersion of the extracted second event signals; determining whether a number of the extracted second event signals is greater than the threshold; and extracting, from the buffer (130, 1320, 1430), one or more additional event signals that are stored in the buffer (130, 1320, 1430) in an inverse order of time at which an event sensed, in response to the determining that the number of the extracted second event signals is less than or equal to the threshold. extracting the stored second event signals from the buffer in an inverse order of time at which an event is sensed; determining a threshold for the second image (233, 235) based on x- and y-axial dispersion of the extracted second event signals; determining whether a number of the extracted second event signals is greater than the threshold; and extracting, from the buffer (130, 1320, 1430), one or more additional event signals that are stored in the buffer (130, 1320, 1430) in an inverse order of time at which an event sensed, in response to the determining that the number of the extracted second event signals is less than or equal to the threshold.