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Funny you mention RANSAC... a few months back during a computer vision class I was thinking about using multiple separate runs of RANSAC to identify multiple moving planes, by running the RANSAC algorithm again over the points discarded by the first runs of it...

Which I am now amused by because even though I didn't know of RANSAC at the time, I now realize that the algorithm I proposed on oldwiki:Rednaxela/MultiplePlaneRegressionClustering would at a superficial level behave similarly to detecting multiple planes with RANSAC. I'm now suddenly tempted to try to incorporate something like that into a robot...