Merge the above images into a Mosaic as follows:
- Choose one image as the reference image frame.
- Estimate a homography between each of the remaining images and the reference one. Each homography estimation is done by:
- Detecting local features in each image
- Matching feature descriptors between two images
- Estimating the homography between two images with RANSAC for robustness to wrong keypoint correspondences
- Warping each image into the reference frame using the estimated homography and composite the warped images into a single mosaic
