Image mosaic creation is one of the most developing area in recent underwater research. Automatic definition of mosaics of the seabed deals with the problem of image motion estimation in a robust and automatic way. This paper presents a fully automatic feature-based approach to combine a sequence of images into a single 2D seamless mosaic (panorama). In this context, calibrated images have been acquired by a monocular camera carried by a ROV looking at the seabed. The major contribution of this work is the implementation of a robust scheme for the definition of correct correspondences between adjacent frames. In order to restrict the computational workload during the registration activity, the paper suggests a new strategy for the evaluation of a reliable homography between adjacent frames, estimated by using few correspondences properly selected from a wide set. Experimental results validate the …