diff --git a/src/Car.java b/src/Car.java
index b449ecd..31c602b 100644
--- a/src/Car.java
+++ b/src/Car.java
@@ -50,7 +50,7 @@ public class Car{
 
         for(View view : views){
             ArrayList<PVector> pointList = view.getPoints();
-            slam.addPoints(pointList);
+            slam.RANSAC(pointList, view.getFOV() / view.getRayNum());
         }
     }
 
diff --git a/src/Processing.java b/src/Processing.java
index 6abbf3f..1f66aae 100644
--- a/src/Processing.java
+++ b/src/Processing.java
@@ -18,7 +18,7 @@ public class Processing extends PApplet {
         processing = this;
         car = new Car(processing, 100,100,50,40);
         size(1000, 1000);
-        car.addView(60,6);
+        car.addView(180,180);
         for(int i = 0; i < 20; i++){
             Wall wall = new Wall(processing, new PVector((int)random(40, 1840), (int)random(40, 960)), (int)random(360), (int)random(100, 1000));
             objects.add(wall);
diff --git a/src/SLAM.java b/src/SLAM.java
index ec7fa81..dadc677 100644
--- a/src/SLAM.java
+++ b/src/SLAM.java
@@ -1,19 +1,95 @@
+import static processing.core.PApplet.radians;
 import processing.core.*;
 
 import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
 
 import static processing.core.PApplet.pow;
 
 public class SLAM{
-    ArrayList<PVector> points = new ArrayList<>();
+    ArrayList<Line> lines = new ArrayList<>();
     private static PApplet proc;
 
     SLAM(PApplet processing){
         proc = processing;
     }
 
-    public void addPoints(ArrayList<PVector> newPoints){
-        Line line = new Line(proc, newPoints);
+    /**
+     * @param set the set to take a sub sample of
+     * @param indexRange the range within to take the sub sample
+     * @param subSampleSize the size of the sub sample
+     * @return A random subset of the set within an indexRange and of size: subSampleSize
+     */
+    private List<PVector> randomSample(ArrayList<PVector> set, int indexRange, int subSampleSize){
+        // select a random laser data reading
+        int randomIdx = (int) proc.random(set.size() - 1); // index of starter reading
+        PVector point = set.get(randomIdx); // point of starter reading
+
+        // get a random sample of size numSampleReadings within degreeRange degrees of this laser reading.
+        List<PVector> subSample = set.subList(randomIdx - indexRange, randomIdx + indexRange); // get the sub-sample
+        Collections.shuffle(subSample); // shuffle the list
+        List<PVector> randomSample = subSample.subList(0, subSampleSize); // get our random sample
+        if (!randomSample.contains(point)) {
+            randomSample.add(point);
+        }
+
+        return randomSample;
+    }
+
+    /**
+     * @param originalList the list which the randomSample of points originated from
+     * @param randomSample a random subsampling of points from the originalList
+     * @param maxRange the maximum distance away from the line of best fit of the subSample of points for a given point's consensus to count.
+     * @param consensus the number of points that have to give their consensus for the line of best fit to count as a valid feature.
+     */
+    private void extractFeature(ArrayList<PVector> originalList, List<PVector> randomSample, float maxRange, int consensus){
+        // get a line of best fit for this list.
+        Line bestFit = new Line(proc, randomSample);
+        int count = 0;
+        ArrayList<PVector> newRandomSample = new ArrayList<>();
+        for (PVector v : randomSample) {
+            if (bestFit.getDistance(v) <= maxRange) {
+                count++;
+                newRandomSample.add(v);
+            }
+        }
+        // if the count is above the consensus, add the line to our list and remove the points that gave the consensus.
+        if (count >= consensus) {
+            bestFit = new Line(proc, newRandomSample.subList(0, newRandomSample.size() - 1));
+            lines.add(bestFit);
+            // remove the associated readings from the total available readings.
+            for (PVector v : newRandomSample) {
+                originalList.remove(v);
+            }
+        }
+    }
+    public void RANSAC(ArrayList<PVector> newPoints, float raysPerDegree){
+        float degreeRange = radians(10/2); // range to randomly sample readings within
+        int indexRange = (int) (degreeRange / raysPerDegree);
+        int numSampleReadings = 10; // number of readings to randomly sample
+        // constrain numSampleReadings so that it cant be higher than possible
+        if(numSampleReadings >= 2 * indexRange){
+            numSampleReadings = 2 * indexRange;
+        }
+        int consensus = 6; // the number of points that need to lie near a line for it to be considered valid.
+        float maxRange = 10; // the maximum distance a point can be away from the line for it to count as a consensus
+
+        // this for loop determines the maximum number of trials we're willing to do.
+        for(int j = 0; j < 20; j++) {
+            // if there aren't enough points left in the set to form a consensus, we're done.
+            if(newPoints.size() < consensus){
+                break;
+            }
+
+            // get a random sub sample of newPoints within the index range of a given size
+            List<PVector> randomSample = this.randomSample(newPoints, indexRange, numSampleReadings);
+
+            // check if the sub sample forms a valid line and remove the randomSample points if it does.
+            extractFeature(newPoints, randomSample, maxRange, consensus);
+
+        }
+
     }
 
 }
@@ -36,13 +112,13 @@ class Line{
      * attempt to find the line of best fit for the given points
      * @param points the points to get the line of best for
      */
-    Line(PApplet processing, ArrayList<PVector> points){
+    Line(PApplet processing, List<PVector> points){
         bestFit(points);
         proc = processing;
     }
 
     // least squares line of best fit algorithm
-    private void bestFit(ArrayList<PVector> points){
+    private void bestFit(List<PVector> points){
         // get the mean of all the points
         PVector mean = new PVector();
         for(PVector point : points){
@@ -75,4 +151,12 @@ class Line{
     public PVector getPosition(){
         return position;
     }
+
+    /**
+     * @param point
+     * @return the smallest distance from the point to this line
+     */
+    public float getDistance(PVector point){
+        return (point.sub(position).cross(direction)).mag() / direction.mag();
+    }
 }
\ No newline at end of file