“…This line of architecture is also consistent with the findings on biological systems [44,9]. A number of authors have further emphasized these computational considerations [13,23,2,47,26], suggesting that matching should be performed at multiple hierarchical stages, in order to gradually and coherently limit the otherwise computationally prohibitive search space [13,53,8,3,33,2,23,17,47,19]. While hierarchies presented a natural way to represent objects in the early vision works [13,24,32,11], surprisingly, they have not become an integral part of the modern vision approaches.…”