Fig. 3
From: Point matching based on affine invariant centroid trees
Illustration of the effect of distortions, outliers and noise on a point set. a An original point set, and it is transformed by b rotation (\(\theta = 30^{ \circ }\)), c non-uniform scaling (\(sx/sy = 2\)), d shearing (\(k = 1\)) or contaminated by e outliers (ODR = 0.2) and f) noise (NSR = 0.5)