Optical cameras equipped with an underwater scooter can perform efficient shallow marine mapping. In this paper, an underwater image stitching method is proposed for detailed large scene awareness based on a scooter-borne camera, including preprocessing, image registration and post-processing. An underwater image enhancement algorithm based on the inherent underwater optical attenuation characteristics and dark channel prior algorithm is presented to improve underwater feature matching. Furthermore, an optimal seam algorithm is utilized to generate a shape-preserving seam-line in the superpixel-restricted area. The experimental results show the effectiveness of the proposed method for different underwater environments and the ability to generate natural underwater mosaics with few artifacts or visible seams.