In this paper, we propose a method of generating a panoramic image sequence from a video sequence taken by a handheld camera. The panoramic image can be made by projective transformation with a homography matrix estimation for each frame using corresponding of image features. However, it is difficult to get a precise result because of blurring on the video by handheld operations, and movements of shooting objects in the scene. And the sensor information has several errors. Therefore, we consider using attitude sensor information together to compensate for the failure of embedding a frame onto the panoramic image. We explain a method for it and show several experimental results with considerations.