 Due to the limited accuracy in the matching process of 3D keypoints, the presence of outliers, probably in very large numbers, is common in many real-world applications  .
<meaning-changed>  Due to the limited accuracy in the matching process of 3D keypoints, the presence of outliers, probably in very large numbers, is common in many real-world applications  .
 Due to the limited accuracy in the matching process of 3D vector sets and point clouds, respectively. Due to the presence of outliers, probably in very large numbers, is common in many real-world applications .