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 .
 used for: graph-based technique, Global registration; used for: graph-based technique, topological structure; conjunction: graph-based technique, bundle adjustment; used for: bundle adjustment, Global registration; used for: homographies, bundle adjustment
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: graph-based technique, Global registration; used for: graph-based technique, topological structure; conjunction: graph-based technique, bundle adjustment; used for: bundle adjustment, Global registration; used for: homographies, bundle adjustment