Performance Improvement for Two-Lens Panoramic Endoscopic System during Minimally Invasive Surgery

Figure 12

The proposed method increases the FOV of the input image by 35% and is used to reconstruct the dense surface image of the overlapping area. (a) Input images with an overlapping area (yellow color). (b) Disparity map. (c) Stitched image. (d) 3D reconstruction.

(a)

(b)

(c)

(d)