A system and method for matching a pattern may include generating a set of model descriptors representative of segment features of a first imaged object. A set of query descriptors representative of segment features of a second imaged object may be generated. A first model segment may be selected to align with the query segments to determine if any of the query segments correspond with the first model segment based on respective model descriptors and query descriptors. An hypothesis may be generated by computing a transformation to match the selected first model descriptor with a query descriptor. The hypothesis may be validated by a model fitting algorithm when comparing other transformed model descriptors with other query descriptors. Based on a consensus value from the model fitting algorithm, a determination as to whether a pattern match exists between the first and second images may be made.
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