RANSAC算法（原理及代码实现+迭代次数参数自适应）

前言

  随机样本一致性 (RANSAC) 是一种迭代方法，用于从一组包含异常值的观察数据中估计数学模型的参数，此时异常值不会对估计值产生影响。简言之，RANSAC是一种滤除异常值的常用算法。

算法流程

  以直线拟合为例，通用RANSAC算法的流程如下

输入:
    data – 观测结果.
    model – 数学模型.
    n – 估计模型所需的最小样本.
    k – 最大迭代次数.
    t – 用于确定模型适合的数据点的阈值.


输出:
    bestFit – 模型

iterations = 0
bestFit = null
bestErr = something really large

while iterations < k do
    maybeInliers := n randomly selected values from data
    maybeModel := model parameters fitted to maybeInliers
    alsoInliers := empty set
    for every point in data not in maybeInliers do
        if point fits maybeModel with an error smaller than t
             add point to alsoInliers
        end if
    end for
    if the number of elements in alsoInliers is > d then
        betterModel := model parameters fitted to all points in maybeInliers and alsoInliers
        thisErr := a measure of how well betterModel fits these points
        if thisErr < bestErr then
            bestFit := betterModel
            bestErr := thisErr
        end if
    end if
    increment iterations
end while

return bestFit

Python代码

"""_summary_
RANSAC直线拟合
"""
from copy import copy
import numpy as np
from numpy.random import default_rng
rng = default_rng()

class RANSAC:
    def __init__(self, n=10, k=100, t=0.05, d=10, model=None, loss=None, metric=None):
        self.n = n              
        self.k = k              
        self.t = t              
        self.d = d              
        self.model = model     
        self.loss = loss        
        self.metric = metric  
        self.best_fit = None
        self.best_error = np.inf

    def fit(self, X, y):

        for _ in range(self.k):
            ids = rng.permutation(X.shape[0])

            maybe_inliers = ids[: self.n]
            maybe_model = copy(self.model).fit(X[maybe_inliers], y[maybe_inliers])

            thresholded = (
                self.loss(y[ids][self.n :], maybe_model.predict(X[ids][self.n :]))
                < self.t
            )

            inlier_ids = ids[self.n :][np.flatnonzero(thresholded).flatten()]

            if inlier_ids.size > self.d:
                inlier_points = np.hst