“…According to the way similarity measurements are performed, such template matching methods can roughly be classified into two groups: 1) patch matching schemes, such as the sum of absolute difference (SAD) [1], the sum of squared difference (SSD) [5], or cross correlation (XCORR) [27], where the similarity measurement relies directly on pixel information from the patch of interest; and 2) feature matching schemes, such as invariant features [3,15] and bags of features [14,16,22,24], where similarity measurement relies on features describing the template and the frame. Patch matching methods are not robust, especially when noise, skew, or errors occur [25].…”