An Improved RANSAC Algorithm Based on Adaptive Threshold for Indoor Positioning

Table 1

Results for adaptive and fixed thresholds (resolution 711435, SIFT ratio = 1).

Case (arranged from top to bottom corresponding to Case A, B, and C)	Threshold (pixel)	Average error (pixel)	Inliers/outliers	Number of iterations
	Arbitrary	0.536736	92/165	307
	1	0.707051	76/184	816
	2	0.675245	91/166	702
	5	0.988990	88/169	559
	Arbitrary	0.548608	148/156	616
	1	0.693217	117/187	827
	2	0.615778	140/164	995
	5	0.938899	141/163	803
	Arbitrary	0.569602	76/177	638
	1	0.551904	71/182	887
	2	0.574652	77/176	905
	5	0.667092	73/180	863