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We pose point set matching under rigid and non-rigid transformations in this framework and solve for the transformations using standard nonlinear optimization techniques .
 rigid and non-rigid transformations, point set matching; framework, point set matching; nonlinear optimization techniques, transformations
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:
 rigid and non-rigid transformations, point set matching; framework, point set matching; nonlinear optimization techniques, transformations