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

Table 1

The statistics of iterations when IPGSAC algorithm is converged in line fitting.

Outlier rate	20%	30%	40%	50%	60%	70%	80%
Min iterations	3	3	3	4	3	7	12
Max iterations	19	17	17	46	35	76	92
Average iterations	7.95	8.65	8.60	13.05	16.80	27.05	41.55