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To this end , we leverage surface isometry and formulate 3D reconstruction as the joint problem of non-rigid image registration and depth estimation .
 used for: surface isometry, 3D reconstruction; used for: joint problem of non-rigid image registration and depth estimation, 3D reconstruction
Given a phrase that describes the relationship between two words, extract the words and the lexical relationship between them. The output format should be "relation1: word1, word2; relation2: word3, word4". 
Option: conjunction, feature of, hyponym of, used for, part of, compare, evaluate for 
Text: {0} 
Answer:
 used for: surface isometry, 3D reconstruction; used for: joint problem of non-rigid image registration and depth estimation, 3D reconstruction