Low-Computational Cost Stitching Method in a Three-Eyed Endoscope

Figure 13

Error in alignment by moving away from the homographic plane placed at 40 mm. (a, c) The images of the reference camera are compared with the images of camera 2 at 37.5 mm and 42.5 mm, respectively. The distances between homologous pixels of the two cameras are highlighted in white. (b) The images acquired by the three cameras are compared, showing in red the chessboard corners from the reference camera, in blue the corners from camera 2, and in green the corners from camera 3.

(a)

(b)

(c)