System for and method of real-time nonrigid mosaicking of laparoscopy images

A method for nonrigid mosaicking of images, comprising:

• 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 of the sample between the first image and the second image based on identifying the at least one feature match, the estimating comprising:
• generating a deformation field comprising an array of deformation nodes,
• adjusting, using an expectation maximization and dual quaternion (EMDQ) procedure, the array of deformation nodes based on a first position of the at least one feature match in the first image and a second position of the at least one feature match in the second image, and
• warping a position of each of a plurality of pixels of the second image based on the adjusted array of deformation nodes;
• 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.