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This paper proposes a novel strategy to find the best reference homography in mosaics from video sequences. The reference homography globally minimizes the distortions induced on each image frame by the mosaic homography itself. This method is designed for planar mosaics on which a bad choice of the first reference image frame can lead to severe distortions after concatenating several successive homographies. This often happens in the case of underwater mosaics with non-flat seabed and no georeferential information available. Given a video sequence of an almost planar surface, sub-mosaics with low distortions of temporally close image frames are computed and successively merged according to a hierarchical clustering procedure. A robust and effective feature tracker using an approximated global position map between image frames allows us to build the mosaic also between locally close but not temporally consecutive frames. Sub-mosaics are successively merged by concatenating their relative homographies with another reference homography which minimizes the distortion on each frame of the fused image. Experimental results on challenging real underwater videos show the validity of the proposed method.

Estimating the Best Reference Homography for Planar Mosaics From Videos