The problem addressed in this paper is that of mosaicking multiple camera images when the camera is rotating from a fixed tripod location, particularly where large rotations are involved.

Geometric and radiometric matching are considered to be interrelated; a joint estimation approach is therefore used. Pairwise registration is avoided because errors can concatenate into larger global registration errors when the camera is panned back and forth. Instead, a global approach registers all scenes in a single framework, using a Levenberg-Marquardt approach. Computation is stated to be very slow, although Kim and Hong have developed several speedup techniques, and further speedups are anticipated. The paper presents the results obtained using major commercial cameras.

The paper is very well written and has 33 references for further reading.