‍Above is the result of the evaluation of one frame. 
It is assumed that the evaluation of the objects in the established world model should be better. But it can be seen that the cloud is not complete in almost every frame. 
R‍elative research is going on.

The first result of the small plane based bounding box extraction method. Better results can be achieved compared with the line-based method. But for the upper surface, the result is still not acceptable due to the bad point cloud.