Algorithm 2 Pose estimation with convex-hull model (PE-CHM).

Input:$P={(p_1,p_2,...,p_n)}^T$, $D_y$; 1:$(x_{rect},y_{rect},\theta )=\mathrm{CHM}\_\mathrm{Fitting}(P,D_y)$; 2:$c_x^m=\mathrm{mean}\left(x_{rect}\right)$, $c_y^m=\mathrm{mean}\left(y_{rect}\right)$; 3:$N^m=\mathrm{NormalVector}(x_{rect},y_{rect},c_x^m,c_y^m)$; 4:$O^m=\mathrm{OrientationVector}(x_{rect},y_{rect})$; 5:$E_v=\mathrm{FindVisibleEdge}(N^m,O^m)$; 6:$p_{itsc}=\mathrm{FindIntersect}\left(E_v\right)$; 7:$(c_x,c_y)=\mathrm{PositionInference}(\theta ,D_y,p_{itsc})$; Output:$(c_x,c_y,\theta )$;