---
title: "A RANSAC-Based Approach to Model Fitting and Its Application to Finding Cylinders in Range Data"
authors:
  - "Robert C. Bolles"
  - "Martin A. Fischler"
doi: ""
url: "https://ijcai.org/proceedings/1981/119"
pdf: "https://ijcai.org/proceedings/1981/0119.pdf"
venue: "Proceedings of the Seventh International Joint Conference on Artificial Intelligence"
year: 1981
pages: "637-642"
track: "Vision: 3-d"
keywords:
---

# A RANSAC-Based Approach to Model Fitting and Its Application to Finding Cylinders in Range Data

Robert C. Bolles, Martin A. Fischler

*Proceedings of the Seventh International Joint Conference on Artificial Intelligence*, pages 637-642.

## Abstract

General principles for filling models to data containing "gross" errors in addition to "measurement" errors are presented . A filling technique is described and illustrated by its application lo the problem of locating cylinders in range data ; lwo key steps in this process are filling ellipses lo partial data and filling lines to sets of three-dimensional points . The technique is specifically designed lo filter out gross errors before applying a smoothing procedure to compute a precise model. Such a technique is particularly applicable to computer vision tasks because the data in these tasks are often produced by local computations that are inherently unreliable.