“…This method is in principle a template matching-based approach, so it is also robust against noises. The FLASH algorithm consists of two stages; namely, a hierarchical nearest-neighbor (HNN) search procedure for approximate pattern localization and an optical-flow based energy minimization method [14] for accurate estimation of the pose. The hierarchical nearest-neighbor search procedure produces rough estimates of the transformation parameters as the initial guesses for the optical-flow based energy minimization procedure, which then iteratively refines the parameter estimation.…”