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curl-6 said:

The visual improvement is there, but it's notably smaller than prior generational gaps. Take Killzone; 2 & 3 look closer to Shadowfall than to the original.

Kind of a given system memory wasn't enough in the days of PS2 to support high resolution textures, and very few games supported HD output but for the ones that did, for example if you compare GT4 at it's maximum achievable output to the SD version, the difference between them is quite staggering too, and it's the exact same console.

The main issue with the PS2 was that the standard output resolution just wasn't high enough to push out clean graphics, so the jump from SD to HD makes people percieve a bigger jump.