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Table 1. The pseudo-code of the proposed sparse matching
Figure 2. Guided sampling based on the density of the regions
Figure 3. The synthetic data set. The 3D point cloud at the top,  the planimetric view of the point cloud at the bottom left and the thumbnails of the simulated images at the bottom right
Figure 5. Results of RANSAC inlier detection at the left and  GA inlier detection at the right

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