UNR - Computer Vision Laboratory
Pose Clustering (e.g., Thompson and Mundy, 1987, Ballard, 1981)
(1) Quantize the space of possible transformations (usually 4D - 6D).
(2) For each hypothetical match, solve for the transformation that aligns the matched features.
(3) Cast a vote in the corresponding transformation space bin.
(4) Find "peak" in transformation space.