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; 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, wherein evaluating each of the models comprises assigning a weighting factor to each respective model on the basis of how well each respective model fits the data and assigning a score to the model based on the weighting factor, the weighting factor comprising a weight for each data point indicating how many times the data point has been selected as an inlier for all models.