Mosaicing of biological tissue surfaces is challenging due to the weak image textures. This contribution presents a mosaicing algorithm based on a robust and accurate variational optical flow scheme. A Riesz pyramid based multiscale approach aims at overcoming the "flattening-out" problem at coarser levels. Moreover, the structure information present in images of epithelial surfaces is incorporated into the data-term to improve the algorithm robustness. The algorithm accuracy is first assessed with simulated sequences and then used for mosaicing standard clinical endoscopic data.