<s>
Joint	B-General_Concept
compatibility	I-General_Concept
branch	I-General_Concept
and	I-General_Concept
bound	I-General_Concept
(	O
JCBB	B-General_Concept
)	O
is	O
an	O
algorithm	O
in	O
computer	B-Application
vision	I-Application
and	O
robotics	O
commonly	O
used	O
for	O
data	B-Algorithm
association	I-Algorithm
in	O
simultaneous	B-Application
localization	I-Application
and	I-Application
mapping	I-Application
.	O
</s>
<s>
JCBB	B-General_Concept
measures	O
the	O
joint	O
compatibility	O
of	O
a	O
set	O
of	O
pairings	O
that	O
successfully	O
rejects	O
spurious	O
matchings	O
and	O
is	O
hence	O
known	O
to	O
be	O
robust	O
in	O
complex	O
environments	O
.	O
</s>
