RANSAC（随机抽样一致算法）

RANSAC

RANSAC为Random Sample Consensus的缩写，它是根据一组包含异常数据的样本数据集，计算出数据的数学模型参数，得到有效样本数据的算法。不同于最小二乘法考虑对整体最优的模拟，RANSAC默认数据集中可能有一些outliers, 先设法把这些 outliers剔除，再进行模拟。

基本步骤

RANSAC achieves its goal by repeating the following steps:

1. Select a random subset of the original data. Call this subset the hypothetical inliers.

2. A model is fitted to the set of hypothetical inliers.

3. All other data are then tested against the fitted model. Those points that fit the estimated model well, according to some model-specific loss function, are considered as part of the consensus set.

4. The estimated model is reasonably good if sufficiently many points have been classified as part of the consensus set.

5. Afterwards, the model may be improved by reestimating it using all members of the consensus set.