Robust affine feature matching via quadratic assignment on Grassmannians

GraNNI (Grassmannians for Nearest Neighbours Identification) a new algorithm to solve the problem of affine registration is proposed. The algorithm is based on the Grassmannian of $k$--dimensional planes in $\mathbb{R}^n$ and minimizing the Frobenius norm between the two elements of the Grassmannian. The Quadratic Assignment Problem (QAP) is used to find the matching. The results of the experiments show that the algorithm is more robust to noise and point discrepancy in point clouds than previous approaches.