This paper proposes a non-photorealistic rendering method that creates an artistic effect called mosaicing. The proposed method converts images provided by the user into the mosaic images. Commercial image editing applications also provide a similar function. However, these applications often trade results for low-cost computing. It is desirable to create high quality images even if the computational cost is increased. We present an automatic method for mosaicing images by using Voronoi diagrams. The Voronoi diagrams are optimized so that the error between the original image and the resulting image is as small as possible. Next, the mosaic image is generated by using the sites and edges of the Voronoi diagram. We use graphics hardware to efficiently generate Voronoi diagrams. Furthermore, we extend the method to mosaic animations from sequences of images.