Fig. 7
From: Image stitching for real-time laparoscopic hyperspectral imaging
Distribution of the registration error with regard to the different acquisition methods, combining both working distances for (a,c). The robotic scans are organized by camera path; freehand scans integrate all transformations; push-broom scans involve only translations. The error is defined by means of the Euclidean distance in pixel between manually annotated, corresponding keypoints on RGB frames and HSI panoramas. The panoramas of (a,b) were reconstructed via image stitching. Samples sizes: robot arm 1200, freehand 400, push-broom 200 keypoint pairs.
