'360 Image Stitching using only Camera Parameters (without Feature Matching)

I am trying to create a panorama image from a series of images captured from a camera rotating a fixed angle at a time. I have done it using feature matching and it works pretty good but the goal is to create a 360 image using only camera intrinsic and extrinsic parameters. I tried computing homography matrix from camera parameters as:
H = K.R.inv(K)
and did cylindrical projection and stitched the images but the stitched image doesn't align and is way off. Is there other way of creating 360 panorama image only using camera parameters? Am i missing something?



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