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

Table 4

The time cost of different RANSAC algorithms.

Outlier rate	20%	30%	40%	50%	60%	70%	80%
IPGSAC	0.0479	0.0493	0.0519	0.0509	0.0608	0.0628	0.0959
RANSAC	0.4378	0.4376	0.4379	0.4439	0.4695	0.4415	0.429
MSAC	0.4299	0.4295	0.4296	0.4371	0.464	0.4332	0.4285
MLESAC	0.4505	0.4488	0.4472	0.4541	0.4786	0.4504	0.4455
NAPSAC	0.4374	0.4367	0.4364	0.444	0.4766	0.4421	0.4365