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Matching (on-line) phase
1.Construct a relational (2-graph) description D for the scene
2.
2.For each 2-graph G of D
3.
3.
3.
3.
3.
3.Select the Mis with high votes as possible hypotheses
4.
4.Verify or disprove via alignment, using the 3D meshes
• encode it, producing an index to access the hash table H
•
• cast a vote for each Mi in the associated bin