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

Table 8

The inlier size with different iterations in fundament estimation.

Iterations	IPGSAC	RANSAC	MSAC	MLESAC	NAPSAC
10	595.36	311.16	311.38	356.28	288.34
20	610.80	386.48	389.62	462.12	401.40
30	611.30	446.10	427.58	511.04	445.52