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The main problem of stitching unmanned aerial vehicle (UAV) thermal infrared remote sensing (TIRS) images lies in that the cumulative error caused by the inaccurate alignment of image matching pairs easily leads to deformation and even failure. Few studies in the literature are reported in stitching TIRS images. For the first time, we propose a simple and robust TIRS image stitching method by exploring prior information during flight. First, according to the position and orientation system information and parameter of camera, the overlap ratio of adjacent images is estimated, and the image pairs with high overlap ratio and high matching confidence in different directions are selected. Then, they are added into the alignment term of global similarity prior (GSP) model. Therefore, each image has more matching pairs constraints compared to the traditional construction method of matching pairs, which greatly improves the local registration capability of GSP and then prevents it from converging to the local optimal solution. The proposed method was extensively evaluated on a dataset including to 24 groups of large-scale farmland TIRS images collected in four experimental areas under different crop growth periods and meteorological conditions. Compared with two commercial tools and two representative stitching algorithms, the proposed method significantly improves the local alignment ability and overall stitching quality on both qualitative and quantitative evaluation. Besides, when the front overlap ratio is reduced from 85% to 70%, the proposed method still shows obvious advantages over the related methods and commercial tools, which improves the acquisition efficiency of UAV TIRS images. [ABSTRACT FROM AUTHOR]