1. A computer-implemented method for point set matching, the method comprising: for each point from a set of points, each point being associated with a location and a descriptor, inputting the point's descriptor into a tree model to obtain one or more candidate matching points; using at least some of the set of points and at least some of their candidate matching points to find dominant scaling and rotation values and an inlier point selected from at least some of the set of points; and obtaining a translation matrix using the dominant scaling and rotation values, the inlier point, and at least some of the set of points and at least some of their candidate matching points.