An Improved RANSAC Algorithm Based on Adaptive Threshold for Indoor Positioning

Algorithm 2

Slope similarity evaluation.

(1)	For, do
(2)	k_Q = slope ;
(3)	k_D = slope ;
(4)	if S (i, j) = similarity (k_Q, k_D) < 0.6, then
(5)	remove
(6)	end if
(7)	end for