Method and apparatus of reconstruction of images from an in vivo multi-camera capsule are disclosed. In one embodiment of the present invention, the capsule comprises two cameras with overlapped fields of view (FOVs). Intra-image based pose estimation is applied to the sub-images associated with the overlapped area to improve the pose estimation for the capsule device. In another embodiment, two images corresponding to the two FOVs are fused by using disparity-adjusted, linear weighted sum of the overlapped sub-images. In yet another embodiment, the images from the multi-camera capsule are stitched for time-space representation.所揭露的是從活體內多相機膠囊重建影像的方法及設備。在本發明之一個具體實施例中，膠囊包含兩個附有重疊視場(FOV)之相機。將內影像式姿勢估測應用於與重疊區有關的子影像，以改善膠囊裝置的姿勢估測。在另一具體實施例中，藉由使用重疊子影像之像差調整、線性加權總和，將對應於兩個視場的兩個影像融合。在又一具體實施例中，為了時空表示(time-space representation)而將來自多相機膠囊的影像拚接。
