Mosaicing is a technique to efficiently condense the static information of an image sequence within one extended mosaic image. The core of mosaicing is to estimate a global transformation between images due to the global camera motion. This is usually accomplished by either matching segmented image features or exploiting all iconic image data directly within a featureless approach. In this paper we propose to combine aspects from both techniques where we abandon to segment features, however select pixels to be used for parameter estimation based on structural image data and information about independently moving scene parts. While this results in a speed up of the estimation process the main focus is to improve robustness with respect to ambiguities arising from homogeneous image regions and to motion in the scene.