 Alternatively, we can bound the speed with which the orientation of the descriptor may change . However, this can increase the cost (and hence lower the quality ) of the resulting shape descriptor.
<clarity>  Alternatively, we can bound the speed with which the orientation of the descriptor may change . However, this can increase the cost (and hence lower the quality ) of the resulting shape descriptor.
 Alternatively, we can bound the speed with which the orientation of the descriptor may change , this may lower the quality ) of the resulting shape descriptor.