Algorithm 1. Algorithm of RANSAC-based plane detection.
FindPlanesRansac
Input: Point cloud G, sampling ratio σ, positive ratio of acceptance ρ, error tolerance ∈, number of iterations k
Output: Set of detected planes N
1	N ← {∅}
2	For i = 1 to k
3	Draw a sample gi ∈ G and σ samples Si ∈ G in the vicinity of gi
4	ni ← BestFitPlane(Si)
5	Pi ← {p ∈ G: δ(p, ni) < ε}
6	If |Pi|/|G| > ρ
7	ni ← RefinePlaneICP(Pi, ni, ∈, Pi ←{p ∈ G: δ(p, ni) < ε}
8	N ← N ∪ {ni}, G ← G − Pi
9	End If
10	End For