Minimal Aspect Distortion (MAD) Mosaicing of Long Scenes

Alex Rav-Acha,  Giora Engel,  Shmuel Peleg 


Long scenes can be imaged by mosaicing multiple images from cameras scanning the scene. We address the case of a video camera scanning a scene while moving in a long path, e.g. scanning a city street from a driving car, or scanning a terrain from a low flying aircraft.

A robust approach to this task is presented, which is applied successfully to sequences having thousands of frames even when using a hand-held camera. Examples are given on a few challenging sequences. The proposed system consists of two components: (i) Motion and depth computation. (ii) Mosaic rendering.

In the first part a "direct" method is presented for computing motion and dense depth. Robustness of motion computation has been increased by limiting the motion model for the scanning camera. An iterative graph-cuts approach, with planar labels and a flexible similarity measure, allows the computation of a dense depth for the entire sequence.

In the second part a new minimal aspect distortion (MAD) mosaicing uses depth to minimize the geometrical distortions of long panoramic images. In addition to MAD mosaicing, interactive visualization using X-Slits is also demonstrated.


A. Rav-Acha, G. Engel, and S. Peleg, Minimal Aspect Distortion (MAD) Mosaicing of Long Scenes , IJCV, Vol 78, No. 2-3, July 2008, pp. 187-206.

(Click on pictures to enlarge or to view the video)

A Street in Jerusalem

Input Video

MAD Mosaic and Depth (High Resolution)

X-Slits Mosaic and Depth Map

MAD Mosaic and Depth Map

Synthesized Video: X-Slit (1)

Synthesized Video: X-Slit (2)


Boat Ride in Germany


Input Video

X-Slits Mosaic and Depth Map

Synthesized Video: Virtual Tour using X-slits

Synthesized Video: Stereo Panorama


Derailed Shinkansen Train


Input Video

X-Slits Mosaic and Depth Map 

Synthesized Video: Stereo Panorama

X-Slits Mosaic of Other Side (High Resolution)