Building a plane equation solver based on random sample consensus and its application

It is hard to solve plane equations with exceptional points with a classical plane equation solving algorithm. A robust plane equation solving algorithm based on RANSAC is advanced to solve this problem. Three points are selected randomly to compute plane parameters, and the number of inner points is counted with proper threshold. This processing is repeated for certain times and points group with the most inner points as selected, and with these points the least square method is used to plane equation solving. Fitting experiments are carried out with various kinds of error and exceptional points, and after that it is used in plane equation to solve of city building exterior wall surface, which is generated with binocular system. Conclusions are drawn that when comparing the classical methods with the proposed method it can adapt to various situations of error and exception and steadily obtain fine planar parameters. It is a robust plane equation solving algorithm.