Algorithm 4: RANSAC evaluation for each trajectory
1:	Input:$\mathrm{states} S$ $\mathrm{containing} S_{centroid}$$, S_{K9}$$, S_{K10}$
2:	Output$: \mathrm{number} \mathrm{of} \mathrm{inliers} I$
3:	For Each $s \mathrm{in} (S_{centroid}$$, S_{K9}$$, S_{K10}$),
4:	$X$ $, \mathrm{Y}=s$
5:	${ y }_{pred}$= RANSAC weight bin model ($X$)
6:	$A_{dev}=|y_{pred}-y|$
7:	If  $A_{dev}<MAD$
8:	$\mathrm{classify} \mathrm{as} \mathrm{inlier} I$
9:	Otherwise
10:	$\mathrm{classify} \mathrm{as} \mathrm{outlier} O$
11:	End
12:	Return number of inliers
13:	Trajectory with the highest number of inliers is associated to the weight event