Utilization of multiple imagers and computational photography in endoscopy

An endoscopy system comprising:

• an elongate insertion tube having a proximal end and a distal end, and an open working channel there through;
• two or more distally-facing image sensors mounted at the distal end of the elongate insertion tube, wherein each of the two or more distally-facing image sensors is operatively connected to a corresponding image processing unit (IPU) disposed in the elongate insertion tube;
• one or more inertial measurement units (IMUs) disposed on the elongate insertion tube, the one or more IMUs measuring IMU data comprising acceleration, angular rate, and magnetic field surrounding the elongate insertion tube;
• one or more light sources fitted at the distal end of the elongate insertion tube;
• and
• at least one computer processor operatively connected to each of the IPUs disposed in the elongate insertion tube, the at least one computer processor being configured for applying computational photography to data received from each of the IPUs disposed in the elongate insertion tube to create an enhanced output image, and further configured for associating the data received from each of the IPUs with the IMU data to remove navigation errors of the elongate insertion tube and create an image pose datum.