Fig. 1
From: Bladder image stitching algorithm for navigation and referencing using a standard cystoscope
Bladder image stitching algorithm based on feature detection and matching of sequential images. Features are detected in the initial frame (\(\:{Frame}_{{M}_{i}}\)), and subsequent frame (\(\:{Frame}_{{M}_{(i+1)}}\)), matched, and the transform (\(\:{H}_{{M}_{i}}^{{M}_{(i+1)}}\)) is calculated to form a stitched, composite image
