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

Table 6

The recall ratio of different RANSAC algorithms.

Outlier rate	20%	30%	40%	50%	60%	70%	80%
IPGSAC	0.9988	0.9973	0.9951	0.9901	0.9763	0.9773	0.9494
RANSAC	0.9988	0.9974	0.9941	0.9813	0.904	0.5588	0.1517
MSAC	0.9988	0.9973	0.9933	0.9884	0.9293	0.6061	0.1472
MLESAC	0.9983	0.9961	0.9884	0.9704	0.877	0.5245	0.1954
NAPSAC	0.9987	0.9967	0.992	0.9689	0.8657	0.5206	0.1525