RANSOC Space Coverage Visualization

Weight Function: w(pᵢ, s) = mᵢ/d(pᵢ, s)

Mass Update (hit): mₕᵢₜ_new = (1-α)mₕᵢₜ

Mass Update (others): mᵢ_new = (1 + α/(n-1))mᵢ