A rear-stitched view panorama RSVP system comprising: at least one processor; and a memory storing software instructions that, when executed by at the at least one processor, cause the RSVP system to compute a disparity map for a left center rear image and a right center rear image, the left center rear image and the right center rear image captured by a stereo camera mounted on a rear of a vehicle; transform a right rear image, a left rear image, a reference center rear image of the left center rear image and the right center rear image, and the disparity map to a virtual world view using virtual camera parameters, the right rear image captured by a right camera mounted on a right side of the vehicle and the left rear image captured by a left camera mounted on a left side of the vehicle; compute an optimal left seam between the transformed left rear image and the transformed reference center rear image based on the transformed disparity map; compute an optimal right seam between the transformed right rear image and the transformed reference center rear image based on the transformed disparity map; and stitch the transformed left rear image and the transformed reference center rear image based on the optimal left seam and the transformed right rear image and the transformed reference center rear image based on the optimal right seam to generate a panorama; wherein to compute an optimal left seam and an optimal right seam, the software instructions further cause the RSVP system to: compute a world disparity map; compute a world disparity difference map based on the world disparity map and the transformed disparity map; and search an overlap region between the transformed left rear image and the transformed reference center rear image and an overlap region between the transformed right rear image and the transformed reference center rear image for a first minimum cost seam, wherein costs of candidate seams are computed based on the world disparity difference map. at least one processor; and a memory storing software instructions that, when executed by at the at least one processor, cause the RSVP system to compute a disparity map for a left center rear image and a right center rear image, the left center rear image and the right center rear image captured by a stereo camera mounted on a rear of a vehicle; transform a right rear image, a left rear image, a reference center rear image of the left center rear image and the right center rear image, and the disparity map to a virtual world view using virtual camera parameters, the right rear image captured by a right camera mounted on a right side of the vehicle and the left rear image captured by a left camera mounted on a left side of the vehicle; compute an optimal left seam between the transformed left rear image and the transformed reference center rear image based on the transformed disparity map; compute an optimal right seam between the transformed right rear image and the transformed reference center rear image based on the transformed disparity map; and stitch the transformed left rear image and the transformed reference center rear image based on the optimal left seam and the transformed right rear image and the transformed reference center rear image based on the optimal right seam to generate a panorama; compute a world disparity map; compute a world disparity difference map based on the world disparity map and the transformed disparity map; and search an overlap region between the transformed left rear image and the transformed reference center rear image and an overlap region between the transformed right rear image and the transformed reference center rear image for a first minimum cost seam, wherein costs of candidate seams are computed based on the world disparity difference map.