Hi,

I used the following code to fit circles on points:
http://www.insight-journal.org/search/?search=ransac

You could start from this and adapt it to your needs. 
If so, don't hesitate to contribute to OTB, e.g. a 
RansacAffineTransformEstimator class. 
I'm sure that the OTB community would be glad to benefit from your 
contribution. :-)

Cheers,

Boris

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