diff --git a/include/basalt/calibration/cam_calib.h b/include/basalt/calibration/cam_calib.h
index cb8685b..bfd211f 100644
--- a/include/basalt/calibration/cam_calib.h
+++ b/include/basalt/calibration/cam_calib.h
@@ -49,7 +49,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <basalt/calibration/aprilgrid.h>
 #include <basalt/calibration/calibration_helper.h>
-#include <basalt/utils/image.h>
+#include <basalt/image/image.h>
 #include <basalt/utils/test_utils.h>
 #include <basalt/utils/sophus_utils.hpp>
 
diff --git a/include/basalt/calibration/cam_imu_calib.h b/include/basalt/calibration/cam_imu_calib.h
index 532e852..e9ba471 100644
--- a/include/basalt/calibration/cam_imu_calib.h
+++ b/include/basalt/calibration/cam_imu_calib.h
@@ -49,7 +49,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <basalt/calibration/aprilgrid.h>
 #include <basalt/calibration/calibration_helper.h>
-#include <basalt/utils/image.h>
 #include <basalt/utils/test_utils.h>
 #include <basalt/utils/sophus_utils.hpp>
 
diff --git a/include/basalt/io/dataset_io.h b/include/basalt/io/dataset_io.h
index 839ff29..4ef84c1 100644
--- a/include/basalt/io/dataset_io.h
+++ b/include/basalt/io/dataset_io.h
@@ -58,8 +58,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <Eigen/Dense>
 #include <basalt/utils/sophus_utils.hpp>
 
+#include <basalt/image/image.h>
 #include <basalt/utils/assert.h>
-#include <basalt/utils/image.h>
 
 #include <basalt/camera/generic_camera.hpp>
 #include <basalt/camera/stereographic_param.hpp>
diff --git a/include/basalt/optical_flow/frame_to_frame_optical_flow.h b/include/basalt/optical_flow/frame_to_frame_optical_flow.h
index cf5bf3a..8029fa6 100644
--- a/include/basalt/optical_flow/frame_to_frame_optical_flow.h
+++ b/include/basalt/optical_flow/frame_to_frame_optical_flow.h
@@ -43,6 +43,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <basalt/optical_flow/optical_flow.h>
 #include <basalt/optical_flow/patch.h>
 
+#include <basalt/image/image_pyr.h>
 #include <basalt/utils/keypoints.h>
 
 #include <tbb/parallel_for.h>
diff --git a/include/basalt/optical_flow/patch.h b/include/basalt/optical_flow/patch.h
index 11eff68..f9e3f63 100644
--- a/include/basalt/optical_flow/patch.h
+++ b/include/basalt/optical_flow/patch.h
@@ -36,8 +36,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <Eigen/Dense>
 
+#include <basalt/image/image.h>
 #include <basalt/optical_flow/patterns.h>
-#include <basalt/utils/image.h>
 
 namespace basalt {
 
diff --git a/include/basalt/optical_flow/patch_optical_flow.h b/include/basalt/optical_flow/patch_optical_flow.h
index e931ad7..1d830dd 100644
--- a/include/basalt/optical_flow/patch_optical_flow.h
+++ b/include/basalt/optical_flow/patch_optical_flow.h
@@ -43,6 +43,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <basalt/optical_flow/optical_flow.h>
 #include <basalt/optical_flow/patch.h>
 
+#include <basalt/image/image_pyr.h>
 #include <basalt/utils/keypoints.h>
 
 namespace basalt {
diff --git a/include/basalt/optimization/poses_optimize.h b/include/basalt/optimization/poses_optimize.h
index 6ec0bc4..1fcfe9c 100644
--- a/include/basalt/optimization/poses_optimize.h
+++ b/include/basalt/optimization/poses_optimize.h
@@ -39,8 +39,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <basalt/camera/unified_camera.hpp>
 
-#include <basalt/utils/image.h>
-
 namespace basalt {
 
 class PosesOptimization {
diff --git a/include/basalt/optimization/spline_optimize.h b/include/basalt/optimization/spline_optimize.h
index 5657935..540eb11 100644
--- a/include/basalt/optimization/spline_optimize.h
+++ b/include/basalt/optimization/spline_optimize.h
@@ -41,7 +41,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <basalt/camera/unified_camera.hpp>
 
-#include <basalt/utils/image.h>
+#include <basalt/image/image.h>
 
 #include <basalt/serialization/headers_serialization.h>
 
diff --git a/include/basalt/utils/keypoints.h b/include/basalt/utils/keypoints.h
index 1f3a360..dfd6c81 100644
--- a/include/basalt/utils/keypoints.h
+++ b/include/basalt/utils/keypoints.h
@@ -40,7 +40,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <Eigen/Dense>
 #include <sophus/se3.hpp>
 
-#include <basalt/utils/image.h>
+#include <basalt/image/image.h>
 #include <basalt/utils/sophus_utils.hpp>
 
 #include <basalt/utils/common_types.h>
diff --git a/thirdparty/apriltag/include/basalt/utils/apriltag.h b/thirdparty/apriltag/include/basalt/utils/apriltag.h
index 0a5c60b..84b1536 100644
--- a/thirdparty/apriltag/include/basalt/utils/apriltag.h
+++ b/thirdparty/apriltag/include/basalt/utils/apriltag.h
@@ -1,9 +1,8 @@
 
+#include <basalt/image/image.h>
 #include <basalt/utils/sophus_utils.hpp>
-#include <basalt/utils/image.h>
 #include <vector>
 
-
 namespace basalt {
 
 struct ApriltagDetectorData;
@@ -16,15 +15,13 @@ class ApriltagDetector {
 
   void detectTags(basalt::ManagedImage<uint16_t>& img_raw,
                   Eigen::vector<Eigen::Vector2d>& corners,
-                  std::vector<int>& ids,
-                  std::vector<double>& radii,
+                  std::vector<int>& ids, std::vector<double>& radii,
                   Eigen::vector<Eigen::Vector2d>& corners_rejected,
                   std::vector<int>& ids_rejected,
                   std::vector<double>& radii_rejected);
 
-  private:
+ private:
   ApriltagDetectorData* data;
- };
-
-}
+};
 
+}  // namespace basalt
diff --git a/thirdparty/basalt-headers b/thirdparty/basalt-headers
index 792c0e9..5968b05 160000
--- a/thirdparty/basalt-headers
+++ b/thirdparty/basalt-headers
@@ -1 +1 @@
-Subproject commit 792c0e9b5a2ccffac60c80f29905cfde145d4042
+Subproject commit 5968b0553cee30b20ce4d3a6400252a634c9e163