Random sample consensus (RANSAC)
RANSAC is an iterative method to estimate parameters of a mathematical model from a set of observed data that contains outliers.
https://en.wikipedia.org/wiki/Random_sample_consensus
Found from the MIT course https://ocw.mit.edu/courses/16-485-visual-navigation-for-autonomous-vehicles-vnav-fall-2020/pages/lecture-notes/
Rahul also mentioned this in the F1TENTH lecture on Scan Matching for outlier rejection.