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In its simplest form, the process starts with a sampling of the minimum data needed to perform an estimation, followed by an evaluation of its adequacy, and further repetitions of this process until some stopping criterion is met. Multiple variants have been proposed in which this workflow is modified, typically tweaking one or several of these steps for improvements in computing time or the quality of the estimation of the parameters. RANSAC is widely applied in the field of robotics, for example, for finding geometric shapes (planes, cylinders, spheres, etc.) in cloud points or for estimating the best transformation between different camera views. In this paper, we present a review of the current state of the art of RANSAC family methods with a special interest in applications in robotics.<\/jats:p>","DOI":"10.3390\/s23010327","type":"journal-article","created":{"date-parts":[[2022,12,29]],"date-time":"2022-12-29T02:54:42Z","timestamp":1672282482000},"page":"327","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":110,"title":["RANSAC for Robotic Applications: A Survey"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5015-1315","authenticated-orcid":false,"given":"Jos\u00e9 Mar\u00eda","family":"Mart\u00ednez-Otzeta","sequence":"first","affiliation":[{"name":"Department of Computer Science and Artificial Intelligence, University of the Basque Country, 20018 Donostia-San Sebasti\u00e1n, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8471-9765","authenticated-orcid":false,"given":"Itsaso","family":"Rodr\u00edguez-Moreno","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Artificial Intelligence, University of the Basque Country, 20018 Donostia-San Sebasti\u00e1n, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2519-4094","authenticated-orcid":false,"given":"I\u00f1igo","family":"Mendialdua","sequence":"additional","affiliation":[{"name":"Department of Languages and Information Systems, University of the Basque Country, 20018 Donostia-San Sebasti\u00e1n, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8062-9332","authenticated-orcid":false,"given":"Basilio","family":"Sierra","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Artificial Intelligence, University of the Basque Country, 20018 Donostia-San Sebasti\u00e1n, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2022,12,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"381","DOI":"10.1145\/358669.358692","article-title":"Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography","volume":"24","author":"Fischler","year":"1981","journal-title":"Commun. 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