Algorithm 2 Panorama construction.

Choose projection

Set suitable sphere radius: r

Set panorama size

for all pixels in panorama do

Compute 3D point according to pixels position, projection inverse equations and r

for cam = 0 to cam = 5 do

Project 3D point to camera image.

if Point falls into camera FOV then

Store color information and location of the pixel.

end if

end for

if The point is only seen for one camera then

Give to the pixel the same value of the pixel of the camera that represents the point

else if The point is seen for more than one camera then

Give to the pixel a value according to a selected blending criterion

else {The point is not in the FOV of any camera}

Set the value of the pixel to black

end if

end for