Abstract: A method for nonrigid mosaicking of images, including: obtaining, using a processor, a plurality of images including a first image and a second image of a sample, the first image and the second image containing information from partially overlapping portions of the sample; identifying, using the processor, at least one feature match between the first image and the second image; estimating, using the processor, a deformation between the first image and the second image based on identifying the at least one feature match; and combining, using the processor, the first image and the second image based on estimating the deformation between the first image and the second image.

Abstract: Systems and methods for creating images of an environment includes controlling at least one camera to acquire imaging data from the environment and selecting, from the imaging data, a three-dimensional-two-dimensional correspondence as a control point for use in a perspective-n-point problem to determine a position and orientation of the at least one camera from n known correspondences between three-dimensional object points and their two-dimensional image projections in the environment. The method also includes reprojecting at least a selected number of the projections, determining a reprojection error for each of the projections, and performing a weight assignment of reprojection errors to distinguish the inliers form outliers. These steps of the method are repeated to apply the weight assignment to outliers in a decreased fashion during iterations to reduce an impact of outliers in the real-time display of the environment.

Abstract: Systems and methods for creating images of an environment includes controlling at least one camera to acquire imaging data from the environment and selecting, from the imaging data, a three-dimensional-two-dimensional correspondence as a control point for use in a perspective-n-point problem to determine a position and orientation of the at least one camera from n known correspondences between three-dimensional object points and their two-dimensional image projections in the environment. The method also includes reprojecting at least a selected number of the projections, determining a reprojection error for each of the projections, and performing a weight assignment of reprojection errors to distinguish the inliers form outliers. These steps of the method are repeated to apply the weight assignment to outliers in a decreased fashion during iterations to reduce an impact of outliers in the real-time display of the environment.