Aspects of the present invention include point set matching systems and methods. In embodiments, a tree model is used to find candidate matching locations for a set of query points. In embodiments, a similitude transform is assumed, and the parameters are separately solved to reduce computation complexity. In embodiments, the dominant scaling (α) and rotation (R) parameters are obtained by identifying a maximum in an accumulator space. A translation (t) matrix is calculated in another 1D accumulator space. With the obtained similitude transform, outliers can be reliably detected. This two-stage approach reduces the complexity and calculation time of determining a similitude transform and increases the accuracy and ability to detect outliers.