1. A method for matching a query image with a plurality of images, an image being represented by a set of feature points and a corresponding set of feature vectors, the method comprising a. finding putatively corresponding images from the plurality of images by finding putative correspondences between one of the plurality of images and the query image; b. checking topological equivalence between a subset of putative correspondences between one of the putatively corresponding images and the query image; and c. finding candidate matches by performing motion estimation using the subset of putative correspondences between one of the putatively corresponding images and the query image.