A method for determining a matching score between a first set of n1 feature points, and a second set of n2 feature points includes producing a triple-wise affinity tensor, determining a leading eigenvector of the triple-wise affinity tensor, iteratively producing a binary optimal assignment vector and determining a matching score between the first set of feature points and the second set of feature points. The triple-wise affinity tensor includes the affinity score of assignments of triplets of feature points of the first set of feature points and triplets of feature points of the second set of feature points. The procedure of iteratively producing a binary optimal assignment vector is performed by discretization of the leading eigenvector. The procedure of determining a matching score is performed according to the triple-wise affinity tensor and according to the optimal assignment vector.