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During normal tracking conditions when the object is visible from frame to frame , local optimization is used to track the local mode of the similarity measure in a parameter space of translation , rotation and scale .
 used for: local optimization, local mode of the similarity measure; used for: parameter space of translation , rotation and scale, local mode of the similarity measure
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: local optimization, local mode of the similarity measure; used for: parameter space of translation , rotation and scale, local mode of the similarity measure