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O(b)
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O(n)
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O(mn)
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O(mn)
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O(m2n)
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O(mn)
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T = O(b+m2n)
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Clear
all the bins;
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for
each scene point s
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Mark the bin for s as occupied;
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for
each pattern point p
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for each scene point s
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Determine translation so that p falls
on s;
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count = 0;
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for each translated pattern point q
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if (q falls in an occupied bin)
count++;
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Remember which p,s gives max count;
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