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It uses embedded algorithm mode and professional knowledge of triangulation chain images. By embedding the knowledge into intelligent algorithm, the intelligent algorithm can make detection and identification. In order to accelerate the algorithm time, it uses the modules of conditional random field and particle filter to make reasonable calculation on the place of triangulation chain, which greatly reduced the algorithm time. Finally, it can get the precise location of the triangulation chain and the real direction of vertex angle. It can ensure the safe running of the motor train.

 

    
Image of motor train skirt board source


Result of triangulation chain detection (vertex angle shit to right about 9.86°)