1. A method, comprising: grouping features from a query image as a segment or a polygon; utilizing a processor to compute a transform of said segment or said polygon between the query image and at least one stored image to obtain transform parameters; utilizing a grouping pattern on said transform parameters; utilizing a voting scheme to vote on inlier features for the query image; and utilizing the inlier features votes from the query image to determine a best matched stored image from said at least one stored image.