Optimal consensus set for digital plane fitting

This paper presents a method for fitting a digital plane to a given set of points in a 3D image in the presence of outliers. We present a new method that uses a digital plane model rather than the conventional continuous model. We show that such a digital model allows us to efficiently examine all possible consensus sets and to guarantee the solution optimality and exactness. Our algorithm has a time complexity O(N
³
log N) together with a space complexity O(N) where N is the number of points.