3D MLESAC, a maximum-likelihood variant of RANSAC, matches RANSAC precision/recall on plant point clouds and standard benchmarks while claimed to be faster, though speed is not measured.
Mlesac: A new robust estimator with application to estimating image geometry
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Performance comparison of 3D correspondence grouping algorithm for 3D plant point clouds
3D MLESAC, a maximum-likelihood variant of RANSAC, matches RANSAC precision/recall on plant point clouds and standard benchmarks while claimed to be faster, though speed is not measured.