Mapping from stitched image to unstitched images

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Hi all. I am working on two armed robot arm. Both of these arms have camera, however, as they have not wide range of view, I need to stitch two images from left and right arm into one image. Then, I have to do object detection on that image, get the center coordinate of the detected image. Up to here everything is good. However, now I have to map the obtained center coordinates from the stitched image back to unstitched images (left and right images). I don’t know if it is possible to do. I know that we are warping two images using homography matrix into stitched image. But, is it possible to do inverse of that? Should I simply find inverse of homography matrix and apply that? If yes, in which of two images it will be mapped? Thank you very much.