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How to identify 3D shapes (Rectangle, Circle and Square) using ROS Laser Scan Data?



What is the simplest way to identify objects using ROS laser scan data ranges? I know we can use Hough Transformations but I haven’t seen an example on how to use these techniques with Laser Scan Data.

Any help is appreciated…



You could decompose the point cloud data into primitive shapes using PCL. Check out these links related to PCL if it may be of any help.

  2. Detecting Planes from Point clouds
  3. Detecting spheres from point clouds