Patent ID: 11945499
Assignee: BEIJING TUSEN ZHITU TECHNOLOGY CO., LTD.
Field: Measurement (Instruments)
Classification: CPC B  G  Y | IPC B  G

Claim 18:
19. The computing device of claim 15, wherein said determining the boundary straight line of the trailer by means of optimized solution of the candidate point cloud based on the pre-constructed objective optimization function comprises:
determining the boundary straight line of the trailer by means of optimized solution of the candidate point cloud based on the pre-constructed objective optimization function:, min
   X
  
  
   1
   2
  
  ⁢
  
   
    
    
     f
     ⁡
     (
     X
     )
    
    
   
   λ
   2
  
 

where X is an argument and X={a,b}, X={a,b} represents parameters a and b in the boundary straight line of the trailer to be determined, y=ax+b; ƒ(X) is a residual function and, f
    ⁡
    (
    X
    )
   
   =
   
    
     f
     ⁡
     (
     
      a
      ,
      b
     
     )
    
    =
    
     
      
       ❘
       "\[LeftBracketingBar]"
      
      
       
        ax
        +
        b
        -
        y
       
       
        
         
          a
          2
         
         +
         1
        
       
      
      
       ❘
       "\[RightBracketingBar]"
      
     
     +
     
      α
      ⁡
      (
      
       y
       -
       ax
       -
       b
      
      )
     
    
   
  
  ,
  
   
    
       
    
   
   λ
   2, is a robust kernel function; x, y are coordinate information of the candidate point cloud in an x-y plane of the rotation center coordinate system, and α is a predetermined regular penalty factor.