A simple PyTorch implementation of plane fitting with RANSAC. Some ideas are taken from: https://github.com/leomariga/pyRANSAC-3D.

In each (batched-)RANSAC iteration, a batch of triplets is sampled and assessed in parallel. A cross-product is used to get plane equations from triplets. The refinement, post identification of inliers, is done with an eigen decomposition of P.T @ P where P is the matrix of points in homogeneous coordinates. Classicially, an SVD decomposition of P is used but this can be slow and memory intensive with large number of points. We thus opted for the eigen decomposition approach despite it being less numerically stable.