Rangarajan and Shah RS91

Original reference: [9].
Additional assumptions: No entry/exit. The correspondences between $F_{1}$ and $F_{2}$ are known.
Initialization: Given.
Cost function:
 $$\begin{multline} \delta_{R}(P_{k-1,n},P_{k,i},P_{k+1,m}) = \\ \frac{\left\Vert... ...verline{P_{k,\phi _{k-1}\left( p\right) }P_{k+1,q}}\right\Vert } \end{multline}$$
$\phi _k:F_k\rightarrow F_{k+1}$ is the mapping function that links the two frames. $\delta_{R}$ accounts for the distributions of accelerations and displacements and prefers small displacements.
Linking strategy: Non-iterative greedy algorithm in forward direction. A priority matrix is used to order the feasible candidate point pairs for linking $F_{k}$ to $F_{k-1}$. High priority is given to a pair whose cost is much less than that of other possible pairings of the two points involved.
Occlusion handling: Occlusion is indicated in $F_{k}$ when $N_{k-1} > N_{k}$. A slightly modified linking procedure is used. The points of $F_{k-1}$ that remain unlinked are projected onto $F_{k}$ in their predicted positions to preserve the number of points.