Changed the primitive stabilization algorithm. Initially was combining closely located landmarks irrespective of their feature values. Now there is a threshold to check for their closeness in feature space as well. Also made changes to populate the landmark database accordingly. 

Also, I have to make a design choice regarding storing the landmark data. Performance wise, is it better to have a database or maintain a Matlab object storing a stable set of landmarks? Currently I have both implemented, but will phase out one of them.