The algorithm can adapt to object recognition, invariant not only under rotation? Scaling? Translation, but under affine and projective transformation.

算法不仅能适应目标物体在旋转、缩放、平移变换下的不变性识别。而且能适应仿射及射影变换下的不变性识别。

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Because the proposed angular feature is invariant to rotation, translation and scale transformation, the registration result will converge to global minimization rather than local one.

由于本文提出的角特征不随旋转、平移和尺度的变化而变化，所以配准最终收敛到全局最小值，而不是局部最小值。

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