  Robust Affine matching with Grassmannians (RAG) is a new algorithm to perform
affine registration of point clouds. The algorithm is based on minimizing the
Frobenius distance between two elements of the Grassmannian. For this purpose,
an indefinite relaxation of the Quadratic Assignment Problem (QAP) is used, and
several approaches to affine feature matching are studied and compared.
Experiments demonstrate that RAG is more robust to noise and point discrepancy
than previous methods.
