Abstract: A method is described for forming a panoramic image (I); the method comprising: receiving (B1) a plurality of images (I1, I2 . . . Ir) of an environment from a corresponding plurality of cameras (C1, C2 . . . Cr) at a given time instant (t), receiving (B1) data on the position of the points relative to the physical objects of said environment shot by said plurality of cameras by at least one depth sensor (L1, L2 . . .

Abstract: A detection apparatus (10) of floating bodies (5) on sea is described; the apparatus comprises at least one thermal sensor (2) configured to receive a thermal signal (Sacq) of at least one sea area of interest (4), data processing means (3) adapted to process the signal emitted by said thermal sensor to detect whether or not there is a floating body in said area of interest depending on the temperature difference between the body and the sea water, and a device (1) adapted to emit a pulsed laser beam to illuminate said area of interest to increase the temperature difference between the floating body and the sea water.