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This book presents the theoretical aspects and practical development of a computer vision system for searching an image for a specified model object; this system is reliable, tolerates imperfections in the image and model, and is fast enough for real-world applications. A number of search techniques are evaluated. The capabilities of the author's image search system are demonstrated on a variety of examples, and applications using it to track moving objects and navigate mobile robots are shown. This book is essential reading for anybody interested in model-based object recognition.