Initially, only consecutive frames in the sequence are connected (blue edges). Nodes position is given by the centroid of the corresponding frame in the mosaic reference frame.

Then edges will be added incrementally, linking frames that i) have a significant overlap, and ii) creates a material shortcut between two vertices (black edges).

The final graph is the spanning tree composed by all shortest paths from each node to the root (yellow node)

Value of EL for different solutions. From left to right: frame-to-frame, bundle adjustment starting from frame-to-frame using "Sawhney", "Szeliski" and our cost functions, MST, bundle adjustment starting from MST using "Sawhney", "Szeliski" and our cost functions.

Alignment errors on mosaic grid-points before bundle adjustment.

Alignment errors on mosaic grid-points after bundle adjustment (please note that scale on the vertical axes are different).

Value of EL vs iteration number in bundle adjustment starting from frame-to-frame using three cost function.

Value of EL vs iteration number in bundle adjustment starting from MST using three cost function.