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

Algorithm 1

	Input: Two input images
	(1) Rectify two input images to two rectified images
	(2) Compute the disparity map using the stereoBM and FGS filter in OpenCV
	(3) Establish a homography matrix using the proposed ROI-grid method and a RANSAC algorithm
	(4) Transform the right rectified image into the same left rectified image plane using the estimated homography matrix
	(5) Determine an optimal seam to prevent the possibility of “ghosting” in the stitched image using the graph-cut technique
	(6) Render panorama using the multiband blending method
	Output: Panoramic image