Algorithm 1 Pseudo code for RANSAC Algorithm (Code Listing 1: RANSAC algorithm)

1 Input: point set A = {ai | i = 1,...,p}

2 Output: planes Pj = {pjk |k = 1,...,Q}: for j = 1,...,J

3 j = 1;

4 while (!area(B) < A){

5            m = 1;

6            B = RANSAC Plane_Fitiing (A);

7            C = Normal_Coherence_Check (B);

8            D = Find_Largest-Patch (C);

9            P = Patch_Number (C);

10 if (area(D) = ?){

11            A = A − C;

12 else{

13 while (area(D) > ? and m < M){

14            F = Iterative_Plane_Clustering (A,D);

15            Pj = Find_Largest_Patch (F);

16            A = A − Pj; C = C − D;

17            D = Find _Largest_Patch (C);

18            j = j + 1 ; m = m + 1;

19 }

20 }

21 }