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UnlabeledMatcher

For each feature in a given map, this module tries to find its partner in the second map.

This module is the first step in the map matching workflow. It identifies pairs of features in two feature map. Currently, two different approaches can be used: if there is only a slight shift between the feature positions in the two maps, a simple pairwise matching procedure can be used. For more complex situations, an algorithm based on pose clustering can be used to estimate a transform and to compute feature pairs based on this transform.

The next steps in the map matching workflow are done by MapMatcher and MapDewarper.


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