Fig. 1. Schematic of multi-aperture system in an optical dome

Fig. 2. Lens structure design drawing. (a) Design drawing of central lens structure; (b) design drawing of edge lens structure

Fig. 3. The MTF curves. (a) MTF curve of central system; (b) MTF curve of edge system

Fig. 4. Multi-sensor network

Fig. 5. Agent system unit

Fig. 6. Agent collaborative working diagram

Fig. 7. Simulation of multi-sensor network detection area. (a) Detection image when the center lens is at the center; (b) detection image when the center lens is at the top left

Fig. 8. Flow chart of image mosaic

Fig. 9. Images to be spliced in edge detection area. (a) Upper left detection area; (b) upper right detection area; (c) lower left detection area; (d) lower right detection area

Fig. 10. Feature point recognition

Fig. 11. Image registration. (a) Feature point matching; (b) matching after removing error points

Fig. 12. Finished mosaic image

Fig. 13. The final image