Background mosaic from egomotion

A framework is presented that produces the mosaic corresponding to the background object of an image sequence. It is based on the dominant motion assumption, which states that the background has a parametric motion and occupies the main part of the images. The foreground objects are localised by their different motion. This localisation is computed together with the background motion in an iterative method. The regions corresponding to the background are then pasted onto the mosaic using classic methods adapted to object elimination or a new mosaicking method based on a striping that takes the foreground objects localisation into account