We propose the Multiple Input Structures with Robust Estimator (MISRE) which estimates the mathematical function behind each inlier structure.
MISRE processes a structure, inlier or outlier, independently by first returning the scale in the iteration. The final step of the algorithm is the classification with the relevant inlier structures at the top. The user only has to indicate the number of these structures. Relative to other robust estimators MISRE is a much simpler set-up.