andom samplesOutput:Qx and Qy: the initial subsets from X and YLocal variables:T: the number of iterationsSx and Sy: the subsets selected randomlyRx and Ry: the set of the remaining points, i.e. Rx ??? X - Sx and Ry ??? Y - Syr: the vector of redsidualscx and cy: the centers of the subsets Sx and SyU: the rotation matrixrmedian: the median of redsidualsrmin: the minimal redsidualbegin1: rmin ??? ?