test.For each individual match, we maintain during the recognition step an estimation of the associated transformation by fusing the transformations between confirming frames. To group matches belonging to the same (rigid) substructure, we run a very simple clustering algorithm on the associated transformations. Indeed, up to measurement errors, frames should undergo a similar transformation within a single substructure.
Each cluster is refined by an iterative closest neighbor
technique where we enforce symmetry of the matches and verify their validity
with a test.
[ Back to substructure
matching with frames ] 