1. A method comprising: iteratively testing, at a processor, different models and corresponding scales for each of the models, the models being employed for modeling parameters corresponding to a visually detected data, captured by an image capturing module; evaluating, by a module evaluator, each of the models over a plurality of iterations based on a function evaluation of each of the models; estimating, by a scale estimator, the scales of inlier data points for each of the models, wherein estimating the scales comprises deriving the scales based on repeated inlier data points accumulated from the different models; selecting, at the processor, one of the models based on the function evaluation of the selected one of the models; and utilizing, at the processor, the selected one of the models for fitting the data.