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

<table class="table-group" id="tab7"><tr><td><table class="table"><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr class="thead"><td class="align_left">Iterations</td><td class="align_center">IPGSAC</td><td class="align_center">RANSAC</td><td class="align_center">MSAC</td><td class="align_center">MLESAC</td><td class="align_center">NAPSAC</td></tr><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr><td class="align_left">10</td><td class="align_center"><b>593.46</b></td><td class="align_center">101.7</td><td class="align_center">129.48</td><td class="align_center">71.40</td><td class="align_center">138.26</td></tr><tr><td class="align_left">20</td><td class="align_center"><b>595.46</b></td><td class="align_center">187.94</td><td class="align_center">242.42</td><td class="align_center">118.80</td><td class="align_center">261.42</td></tr><tr><td class="align_left">30</td><td class="align_center"><b>596.46</b></td><td class="align_center">301.68</td><td class="align_center">290.10</td><td class="align_center">194.66</td><td class="align_center">299.56</td></tr><tr class="table-tr"><td colspan="6"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

The inlier size with different iterations in homography estimation.

Journal of Sensors

tab7

Table 7

Table 7: A Novel Improved Probability-Guided RANSAC Algorithm for Robot 3D Map Building 