An endoscopic apparatus and method allow for robust autofocusing operation regardless of contrast characteristics of the environment. The endoscopic apparatus and method can focus on a field stop edge and store default information of the apparatus focused on the edge. Later, if the endoscope fails to...http://www.google.co.uk/patents/US6749561?utm_source=gb-gplus-sharePatent US6749561 - Autofocusing endoscopic system
