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

Figure 5

Basic components of homography and image stitching. (a) Manipulator with the flaps open: the reference systems of cameras 1, 2, and 3 and of the virtual camera (in green) are shown. The homographic plane is highlighted in blue, and the contributions of the three views, merged and captured by the virtual camera, are distinguished. (b) Manipulator with the flaps open: H₁, H₂, and H₃ are the homographic transformations from the view of each camera to the virtual camera. Parameters d₁, d₂, and d₃ represent the distance of each camera from the homographic plane. The vector normal to the plane, n, is unique; however, it assumes different values in the reference systems of the three cameras.

(a)

(b)