An imaging system including: first camera; N second cameras, optical axes of first and second cameras being arranged at an angle; and processor(s) configured to: control first camera and N second cameras to capture first image and N second images, second field of view (FOV) is narrower than first FOV and overlaps with portion of first FOV; determine first overlapping portions (P, P′, A, A′, A″), second overlapping portion(s) (Q, B, B′, B″), and third overlapping portion (C) of first image; for given overlapping portion of first image, determine corresponding overlapping portion of at least one of N second images; and process corresponding overlapping portions of first and second images to generate corresponding portion of output image.