Part IV: Image matching Given two sets of descriptors {v} and {v} extracted from two images to be matched, a distance d is computed between vi and v2. 1. Give the expression of d(v, v) if (a) d is the sum of square differences (SSD) (b) d is the cross correlation (CC) 2. What is the relationship between the two distances? 3. RANSAC is used for a robust matching that discards outliers. The algo- rithm starts by matching s randomly selected elements of {v} are to the set {v}. The operation is repeated T times keeping the largest number of inliers. If e is the ratio of outliers, what is T so that, with probability p, at least one random sample set is free from outliers?