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The set of feature points $\boldsymbol{x}_i$ and $\boldsymbol{x}^{\prime}_i$ is given, and you want to optimize the parameters $\boldsymbol{p}$ of a given planar transformation $\boldsymbol{f}(\boldsymbol{x};\boldsymbol{p})$ such that it predicts the actual transformation from $\boldsymbol{x}_i$ to $\boldsymbol{x}^{\prime}_i$ with minimum error. In this way, ...


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