A method is provided for a surveillance system including a remote sensor apparatus a portable receiver. The method includes receiving, at the portable receiver, image data collected simultaneously from a plurality of image sensors installed in the remote sensor apparatus. The method also includes processing, at the portable receiver, the received image data by, for each of the first plurality of captured images, detecting image features and performing feature matches by matching control points across neighboring images based on a control-point assumption that the control points are relevant only in areas of field of view overlap. The areas of field of view are determined by positions of the plurality of image sensors and a field of view of a wide-angle lens fitted with each of the plurality of image sensors. The method further includes generating a panoramic view by blending the processed first plurality of captured images.