86
Global registration is achieved by combining a graph-based technique -- that exploits the topological structure of the sequence induced by the spatial overlap -- with a bundle adjustment which uses only the homographies computed in the previous steps .
 graph-based technique, Global registration; graph-based technique, topological structure; graph-based technique, bundle adjustment; bundle adjustment, Global registration; homographies, bundle adjustment
Please list all entity pairs containing a certain relationship in the given options.Output format is "word1, word2; word3, word4". 
Option: conjunction, feature of, hyponym of, used for, part of, compare, evaluate for 
Text: {0} 
Answer:
 graph-based technique, Global registration; graph-based technique, topological structure; graph-based technique, bundle adjustment; bundle adjustment, Global registration; homographies, bundle adjustment