Algorithm 1 Convex-hull model (CHM) fitting.

Input:$P={(p_1,p_2,...,p_n)}^T$, $D_y$; 1:$K=\mathrm{ConvexHull}(P_x,P_y)$; 2:for$i=1,...,m-1$do 3:  $(k_1^i,b_1^i)=\mathrm{ParameterofLine}(p_i,p_{i+1})$; 4:  $D^i=\mathrm{DistancetoLine}(K,k_1^i,b_1^i)$; 5:  $p_{max}^i=\left\{p_j\right|d_j=max\left(D^i\right)\}$; 6:  $b_2^i=\mathrm{ParameterofLine}(p_{max}^i,k_1^i)$; 7:  $X_p^i=\mathrm{ProjectiontoLine}(k_1^i,b_1^i)$; 8:  $p_{pmax}^i=\left\{p_j\right|x_{pj}=max\left(X_p^i\right)\}$; $p_{pmin}^i=\left\{p_j\right|x_{pj}=min\left(X_p^i\right)\}$; 9:  $b_3^i=\mathrm{ParameterofLine}(p_{pmin}^i,-\frac{1}{k_1^i})$; $b_4^i=\mathrm{ParameterofLine}(p_{pmax}^i,-\frac{1}{k_1^i})$; 10:  $\mathcal{R}\left(i\right)=[k_1^i,b_1^i,b_2^i,b_3^i,b_4^i]$; 11:  $\mathcal{A}\left(i\right)=\mathrm{AreaofBoundingBox}\left(\mathcal{R}\right(i\left)\right)$; 12:  $\mathcal{D}\left(i\right)=\mathrm{SumofMinDistancetoEdges}(K,\mathcal{R}(i\left)\right)$; 13:  $\mathcal{M}\left(i\right)=\mathrm{MaxofMinDistancetoEdges}(K,\mathcal{R}(i\left)\right)$; 14:  $\Theta \left(i\right)=\mathrm{SelectYawAngleDif}(D_y,k_1^i)$; 15:end for 16:$({\mathcal{R}}_{optimal},\theta )=\mathrm{SelectOptimalParameter}(\mathcal{R},\mathcal{A},\mathcal{D},\mathcal{M},\Theta )$; 17:$(x_{rect},y_{rect})=\mathrm{IntersectionofLine}\left({\mathcal{R}}_{optimal}\right)$; Output:$(x_{rect},y_{rect},\theta )$;