Table 1. Statistical results of mosaicking experiments using freehand and endoscope scanning.

	Freehand				Endoscope
Video Frame Rate	10 fps	30 fps	120 fps		10 fps	30 fps	120 fps
Number of mosaics	6	58	120		20	57	51
Mean length of mosaics (mm)	0.7	1.3	2.3		0.7	1.2	2.7
Total length of mosaics (mm)	4.6	76.0	274.0		14.2	68.6	140.0
% image frames in mosaic	5	36	86		25	63	88