“…That is, close neighbors in the model must map to close neighbors in the scene. We are looking for a telephone in a room, not a constellation in the Vinod and Ghose [4] Asymmetric neural networks Translation, rotation, distortion and noise but not scaling 1996 Irani and Raghavan [5] Randomized alignment Translation, rotation and scaling O(n 2 m log n) 1997 Chang et al [6] 2-D Cluster approach Translation, rotation, scale changes, local distortion, extra and or missing points O(n 4 )…”