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

Claim 17:
18. The computing device of claim 17, wherein said ROI-filtering the point cloud data in the rotation center coordinate system in accordance with the predetermined condition comprises:
selecting, from the point cloud data in the rotation center coordinate system, P′={p′0, . . . , p′i, . . . , p′n}, point cloud data that meets the predetermined condition,
wherein the predetermined condition comprises:
in an x-y plane of the rotation center coordinate system, a distance between the point cloud and an origin of the rotation center coordinate system being smaller than a predetermined distance threshold dt;
point cloud three-dimensional coordinates of the point cloud data in the rotation center coordinate system being within a predetermined three-dimensional coordinate range, the predetermined three-dimensional coordinate range being determined based on coordinates of three-dimensional model points of a vehicle body surface in the rotation center coordinate system and a trailer angle in a previous period; and
a reflection intensity corresponding to the point cloud in the point cloud data in the rotation center coordinate system being greater than a predetermined reflection intensity threshold.