General

Robust Point Matching

Step II. Softassign

Two-way constraints

M

ij

M

ij

M

ij

S

i

Row Normalization

M

ij

M

ij

M

ij

S

j

Col. Normalization

Positivity

=exp(

)

Q

ij

b

M

ij

•Step I: Mij = exp ( - Qij/T).

•

•Step II: Double Normalization. Sinkhorn’s Algorithm.

Outlier rejection using slack variables.