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

Figure 7

The ROI-grid method. The corresponding point pairs are determined based on the disparity value. The ROI (dark yellow) is the region that is used to calculate disparity. The ROI is divided into a 9 × 24 grid and each grid’s peak (P) is used to determine the corresponding point (Q) in the right rectified image.