“…Moreover, an optimization strategy which combines the JADE with LBFGS methods is introduced to accelerate the iterative registration process. Unlike other methods, ours does not need a particular camera height [ 19 ], image priori [ 20 ], or special illumination [ 36 , 37 ]. Our approach is similar to the state-of-the-art [ 25 , 28 , 29 , 30 ] in that it only needs a short sequence (61 frames) rather than 800 frames in [ 14 ], 300k frames in [ 22 ], 100 frames in [ 23 ], and 43,600 frames in [ 24 ], where it is the prerequisite for underwater imaging systems to achieve covert observation.…”