Table of contents
1. Algorithm overview
1. Implementation process
1. First, a small number of points are randomly selected from the point cloud, which will be used to fit a straight line.
2. Compute the model of the line passing through these points, and use this model to calculate the distance from all points in the point cloud to the line.
3. Set a distance threshold, and define all points in the point cloud whose distance from the straight line is less than the threshold as inliers.
4. If the number of interior points is greater than a certain threshold (such as 50%), use all interior points to refit the linear model; otherwise, return to step 1.
5. Repeat steps 2 to 4 until the maximum number of iterations is reached or the stop condition is met.
6. The final linear model is what you want.
2. Parameter Analysis
a, b, c represent the coordinates of a point on the line, d, e, f represent the direction vector of the line.