We select the RANSAC algorithm based on affine invariant as the coarse registration algorithm.

选择基于仿射不变量的RANSAC配准算法，作为粗配准算法。

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When the ICP algorithm combines with RANSAC algorithm, the registration is high-speed and robust.

论文把RANSAC粗配准算法与ICP精确配准算法相结合，具有较高的收敛速度和鲁棒性。

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Then we propose a RANSAC algorithm using TDOA estimation for robust speak localization based on valid frames.

在所获得的有效帧的基础上提出一种基于TDOA估计的鲁棒RANSAC算法对说话人进行定位。

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