A Novel Improved Probability-Guided RANSAC Algorithm for Robot 3D Map Building

Algorithm 1

IPG SAC algorithm.

) Parameter setting: input data , ,

  minimum model estimation data size , tolerance threshold ,

  setup Model function , ,

  reset maximum inlier size , ;

() Estimate the maximum iterations ;

() Initialize the probabilities of test points by using a hybrid distribution;

() for   to   do

()   ;

()   ;

()   if  

()   Update probabilities of points in , ;

()   else

()  ;

()  Update the probabilities of all test points by using (5);

()  Update the maximum inlier size. For in , ;

()  end if

() Compute the forgetting factor ;

() Compute ;

() Update the probability using DS evidence theory;

()  if   and

()    break;

()  end if

()  if

()   Update with ;

()    ;

()  end if

() end for

() for   to   do

()  ;

()  ;

() end for