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

Table 10

The statistics of iterations when IPGSAC is converged in 3D map building.

Outlier rate	0.25–0.35	0.35–0.45	0.45–0.55	0.55–0.65	0.65–0.75	075–0.85
Count	19	31	247	354	112	19
Min iterations	2	2	2	2	2	7
Max iterations	9	25	46	92	61	87
Average iterations	5.21	7.70	9.06	13.66	15.47	20.29