Mosaicing is connecting two or more images and making a new wide area image with no visible seam-lines. Several algorithms have been proposed to construct mosaics from image sequence where the camera motion is more or less complex. Most of these methods are based either on the interest points matching or on theoretical corner models. This paper describes a fully automated image-mosaicing method based on the regions and the Harris points primitives. Indeed, in order to limit the search window of potential homologous points, for each point of interest, regions segmentation and matching steps are being performed. This enables us to improve the reliability and the robustness of the Harris points matching process by estimating the camera motion. The main originality of the proposed system resides in the preliminary manipulation of regions matching, thus making it possible to estimate the rotation, the translation and the scale factor between two successive images of the input sequence. This estimation allows an initial alignment of the images along with the framing of the interest points search window, and therefore reducing considerably the complexity of the interest points matching algorithm. Then, the resolution of a minimization problem, altogether considering the couples of matched-points, permits us to perform the homography. In order to improve the mosaic continuity around junctions, radiometric corrections are applied. The validity of the herewith described method is illustrated by being tested on several sequences of complex and challenging images captured from real-world indoor and outdoor scenes. These simulations proved the validity of the proposed method against camera motions, illumination variations, acquirement conditions, moving objects and image noise. To determine the importance of the regions matching stage in motion estimation, as well as for the framing of the search window associated to a point of interest, we compared the matching points results of this described method with those produced using the zero-mean normalized cross correlation score (without regions matching). We made this comparison in the case of a simple motion (without the presence of a rotation around optical axis and/or a scale factor), in the case of a rotation and in the general case of an homothety. For justifying the effectiveness of this method, we proposed an objective assessment by defining a reconstruction error.