Patent Document ID: 8605549
Application ID: 13478709
Patent Flag: 1

Claim One:
1. A method for creating a georeference model comprising the steps of: receiving at least one input bathymetric data set having a plurality of points; processing said input bathymetric data set to create at least one search limit grid defining a spatial area having at least one cell; establishing a geometric model for fitting to points of said input bathymetric data set, the established geometric model being characterizable by a minimum sample set number of points; receiving a first user defined probability value representing the probability that at least one minimum sample set of points within said input bathymetric data falls within the established geometric model for a cell, and a second user defined probability value representing the probability that any minimum sample set will fit the underlying model; obtaining a geometric model fit threshold; calculating the number of iterations required to obtain the geometric model that satisfies said probability value for one cell; selecting one cell in said created search limit grid; selecting at least one random minimum sample set of points within said input bathymetric data for the selected cell to determine the probability that the selected minimum set is within the geometric model representing said uniform distribution data set; performing the calculated number of iterations to determine parameters of the geometric model by consensus; removing at least one point of said input bathymetric data set plurality of points that is more than the geometric fit threshold away from the identified geometric model to give a data set with outliers removed; repeating said steps of selecting one cell, selecting a minimum sample set, performing and removing for each cell of said search limit grid; and utilizing the data set with outliers removed for each cell to create a georeference model.