Method for forming panoramic images and related apparatus

A method for generating a panoramic image is disclosed. The method comprises acquiring multiple images of an environment from a corresponding set of cameras at a given time and receiving depth data describing the positions of points relative to physical objects in the scene from at least one depth sensor. The depth data are processed to determine the distance of all objects in the environment from a virtual camera, thereby creating a three-dimensional map of point positions. This map is combined with a precomputed lookup table in which each cell corresponds to a pixel of the panoramic image and stores information on the related pixels from the acquired images and their associated weights. The pixels from the multiple images are then linearly combined according to their respective weights to produce the panoramic image.