PCL least median square method fitting plane

One 、 Algorithm principle

1、LMedS Algorithm

  LMedS Algorithm and RANSAC Algorithm is the same , From a set of observation data sets containing outliers , The parameters of the mathematical model are estimated iteratively . This algorithm was first developed by Rousseeuw On 1984 in , It is through the solution (1) This nonlinear minimization problem is used to estimate the parameters of the model .
min ⁡   m e