Random sample subsets are selected from an image. The RANSAC algorithm is used to perform robust matching between the samples of a captured image and like samples of stored images. By selecting enough samples the likelihood that all samples will be affected by lighting changes is less and therefore it is more likely that a match will be found even in the case of different lighting in the captured image than the stored images. Additionally a weighted sampling technique is used which selects samples based on likelihood of being affected by lighting changes.
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