I’ve been working on a bespoke image-matching and compositing application to go along with the robot-driven work “Making Sense”.  I’m very happy to say that it works better for my use than Microsoft’s Image Composite Editor that I’ve been using up ’till now.  I’ve been wanting to do a video like this for about a year, and have now added a feature to track videoframes against the composite image.  I think it works well (though there are 2 or 3 “blips” in the video due to difficult tracking).  Here’s a link to the final high-res composite image in case anyone is interested.