Fig. 2.

Retinal mosaicing pipeline: Our proposed pipeline generates a single, high quality mosaic from a raw VIO recording. We select frames based on a hue-saturation-value (HSV) quality score, a spatial frequency measure, and a combination of the two measures. We then remove artifacts present in the selected frames and compute a high contrast vessel map from each of them. We register the selected frames based on these maps and fuse the registered frames into a single mosaic, suitable for human and semi-automated analysis.