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For applications such as underwater monitoring a platform with a camera will be moving close to a large roughly planar scene. Theidea to map the scene by stitching a panorama using planar homographies is nearby. However, serious problems occur with driftcaused by uncertainty in the estimation of the matrices and un-modelled lens distortions. Sooner or later image points will bemapped to infinity. Instead this contribution recommends using the homographies only for the composition of local patches. Thenthe homography obtained between the first and the last frame in such patch can be decomposed giving an estimate of the surfacenormal. Thus the patches can be rectified and finally stitched into a global panorama using only shift in <i>x</i> and <i>y</i>. The paper reportsabout experiments carried out preliminarily with a video taken on dry ground but a first under water video has also been processed

the international archives of the photogrammetry, remote sensing and spatial information sciences/international archives of the photogrammetry, remote sensing and spatial information sciences

STITCHING LARGE MAPS FROM VIDEOS TAKEN BY A CAMERA MOVING CLOSE OVER A PLANE USING HOMOGRAPHY DECOMPOSITION