A method for generating and evaluating N-to-1 mappings between spatial point sets in nD, n=2 or 3, implemented on a computing device comprising a programmable general purpose processor and a programmable data-parallel coprocessor and a memory coupled with them. Embodiments of the method comprises using the computing device to carry out steps comprising receiving a first and a second spatial point sets in 2D or 3D, the first spatial point set comprising a first non-empty non-isolated portion of non-isolated points and a second constrained portion of constrained points, receiving an extended array of fixed correspondents comprising a first not-yet-fixed portion for the non-isolated portion of the first spatial point set and a second fixed portion for the constrained portion of the first spatial point set, a CCISS or padded CCISS between the first non-empty non-isolated portion and the second spatial point set, dividing the first non-empty non-isolated portion into a number of sub-portions, and dividing the first not-yet-fixed portion of the extended array of fixed correspondents and the CCISS or the padded CCISS accordingly, iteratively generating optimal N-to-1 mappings between the members of the sub-portions of the first non-empty on-isolated portion and updating the respective sub-portions of the extended array of fixed correspondents one sub-portion at each iteration.