Abstract: Aiming at the influence of airborne panoramic video stream, a panoramic real-time splicing method based on embedded mode was proposed. The speeded up robust features (SURF) points in the image were extracted to generate the feature descriptors. The matching degree was determined by calculating the Euclidean distance between two feature points. After affine transformation, the Poisson transform was used to realize the fusion and smoothing between images. The above processes were executed concurrently on the target equipment, and customized optimization was carried out according to the characteristics of each process to realize the panoramic real-time splicing. After test, the proposed method realizes the seamless effect at the splicing joint, and the splicing speed reaches 30 Hz, which can meet the requirements of real-time display.