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What is a good alternative to RANSAC

I have a cloud of points that I am fitting a plane of best fit. This cloud of points is representing the ground in front of my vehicle. When I am sitting still, there is too much randomness and the plane of best fit jumps around too much. I am currently using RANSAC to find my plane of best fit. I need a more consistent or deterministic method that is still efficient. I understand that I will not be able to maintain the same efficiency but any ideas would be great. Essentially when I sit still I need the same (or almost the same) plane to be generated.