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

Table 3

The statistics of iterations when IPGSAC is converged in fundamental estimation simulation.

Outlier rate	20%	30%	40%	50%	60%	70%	80%
Min iterations	3	3	3	3	3	3	3
Max iterations	7	6	9	8	39	54	99
Average iterations	3.60	3.94	4.02	4.22	10.88	10.88	26.5