“…It is well known that image matching plays an important role in this area (Masoud & Hoff, 2016). Some essential requirements of image matching algorithm involve real-time, accuracy as well as robustness (Wang, Zhu, Qin, Jiang, & Li, 2018;Zheng, Hong, Zhang, Li, & Li, 2016). Up to now, there is still a wide performance gap between slow (but robust) feature matchers and the much faster (but often unstable) real-time solutions.…”