We are experiencing a crash when attempting to capture a high resolution frame. The crash only happens on the A12 and A12X devices (iPhone11,8 or iPad8,7). The crash did occur on older versions of iOS and continues to happen with more recent versions, iOS 17.6 and iPadOS 17.5.1. Any ideas on how to get a high-resolution image & frame from an AR Session using these devices? To reproduce the crash: Use an A12 or A12X device. Other devices have not produced the same result. Setup an AR session that can capture high resolution static images: Create a class that conforms to UIViewController and ARSessionDelegate and connect it to an Interface with an ARView. @IBOutlet var arView: ARView! During view setup configure the AR session: let configuration = ARBodyTrackingConfiguration() if let hiResFormat = ARBodyTrackingConfiguration.recommendedVideoFormatForHighResolutionFrameCapturing { configuration.videoFormat = hiResFormat } self.arView.session.run(configuration) Trigger code to capture the high resolution image (we call this from a button @IBAction: Task { let hiResFrame = try? await self.arView.session.captureHighResolutionFrame() print("crash above. this print never occurs") } The crash occurs with both the sync & async versions of the captureHighResolutionFrame call. Code above crashes in Apple AltruisticBodyPoseKit : 0 libsystem_kernel.dylib 0xc2ec __pthread_kill + 8 1 libsystem_pthread.dylib 0x7c0c pthread_kill + 268 2 libsystem_c.dylib 0x75ba0 abort + 180 3 libsystem_c.dylib 0x74eac err + 282 4 AltruisticBodyPoseKit 0x4b2b0 cva::MatrixData<int, 0ul, 0ul, false>::allocate(unsigned long) (.cold.1) + 42 5 AltruisticBodyPoseKit 0x20dac std::__1::vector<std::__1::pair<cva::Matrix<double, 3u, 1u, false>, cva::Matrix<double, 2u, 1u, false> >, std::__1::allocator<std::__1::pair<cva::Matrix<double, 3u, 1u, false>, cva::Matrix<double, 2u, 1u, false> > > >::vector(unsigned long) + 1186 6 AltruisticBodyPoseKit 0x2058c btr::(anonymous namespace)::EstimatePoseFromCorrespondences(btr::CameraPoseInfo&, btr::Correspondences2d3d const&, bool) + 564 7 AltruisticBodyPoseKit 0x2018c btr::BodyRegistration::RegisterBody(float vector[2] const*, unsigned long, float vector[3] const*, unsigned long, simd_float4x4 const*, unsigned long, simd_float3x3 const*, simd_float4x4 const*) + 1228 8 AltruisticBodyPoseKit 0x4354c -[ABPKCameraRegistration estimateCameraPoseFromMatchingwithImageIntrinsics:imageResolution:joints2d:jointsLifted3D:jointsLifted3DCount:] + 1160 9 ARKitCore 0x131d30 -[AR3DSkeletonRegistrationTechnique _estimateCameraPoseFromMatchingImageData:to3DData:worldTrackingPose:pCameraFromBody:depthData:pScaleOut:] + 396 10 ARKitCore 0x131818 -[AR3DSkeletonRegistrationTechnique requestResultDataAtTimestamp:context:] + 388 11 ARKitCore 0x91fd8 -[ARParentTechnique technique:didOutputResultData:timestamp:context:onTechniques:] + 1400 12 ARKitCore 0x91a28 -[ARParentTechnique technique:didOutputResultData:timestamp:context:] + 112 13 ARKitCore 0x8150c -[ARExposureLightEstimationTechnique requestResultDataAtTimestamp:context:] + 352 14 ARKitCore 0x91fd8 -[ARParentTechnique technique:didOutputResultData:timestamp:context:onTechniques:] + 1400 15 ARKitCore 0x91a28 -[ARParentTechnique technique:didOutputResultData:timestamp:context:] + 112 16 ARKitCore 0xcd9c4 -[ARWorldAlignmentTechnique requestResultDataAtTimestamp:context:] + 1044 17 ARKitCore 0x91fd8 -[ARParentTechnique technique:didOutputResultData:timestamp:context:onTechniques:] + 1400 18 ARKitCore 0x91a28 -[ARParentTechnique technique:didOutputResultData:timestamp:context:] + 112 19 ARKitCore 0x92584 -[ARParentTechnique _submitResultsForTimestamp:context:] + 396 20 ARKitCore 0x90124 __71-[ARParentTechnique requestResultDataAtTimestamp:context:onTechniques:]_block_invoke_3 + 72