Remarks
The result of the recognition is a list of (M,RM,RB), showing that there is a coincidence set between the model M and the query B, becoming evident when the reference frames RM and RB are used
The residues of the coincidence sets are known (or can be found), and a superposition can be done for checking the substructure similarities
Techniques for reducing the run time for Geometric Hashing exist
Techniques also exist for ”practical adaption” (e.g. checking neighbouring cells)