proposed two modification of RANSAC called MSAC (M-estimator SAmple and Consensus) and MLESAC (Maximum Likelihood Estimation SAmple and Consensus).
Para compensar parcialmente este efecto indeseable, Torr propone dos modificaciones de RANSAC llamadas MSAC (M-estimator SAmple and Consensus) y MLESAC (Maximum Likelihood Estimation SAmple and Consensus).