Image registration using both distance and angle information

Image registration is an important task in matching two or more images with unknown rotation, displacement, and scaling. A class of registration algorithms uses the location of feature points in the images, rather than pixel intensity values to perform the registration. An O(N³) algorithm of this type that uses both relative distance and angle information is examined. The algorithm allows for missing and spurious feature points, and can provide scale mismatch information. It requires less computation than a previous method