Table 1.

RANSAC-based segmentation of a SHCC in point clouds, “joining scans vs. single scan”.

Method	Initial Size	RANSAC Size	Avg. Rate	False Positives
Figure 3 Architecture	~60k points	19k avg. points	0.73 Hz	0.71%
Figure 4 Architecture	~30k points	8.5k avg. points	3.94 Hz	0.73%