Table 1 Setup for the parameters

T_NNDR [31]: a threshold for nearest neighbor distance

0.6

T_c [16]: a threshold for making a subgroup

50

T_h: a threshold for making a group

10n,

n: number of keypoints in group.

N_e: the number of the extension

5

R_e: the range of each extension

0.25

S_r: the rectangle search region

0.125

T_k: a threshold for the number of keypoints in a group

5

m, n: the size of computing ZNCC value

7

T_b: a threshold

0.55

E_r: the expanded range

0.25

S: a superpixel size

300

N_d: the number of pixels with true in the ZNCC binary map

0.5