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PCL + RANSAC mentioned there could be a good start:
https://discourse.ros.org/t/how-to-identify-3d-shapes-rectangle-circle-and-square-using-ros-laser-scan-data/4790
https://pointclouds.org/ (PCL)
https://pcl.readthedocs.io/projects/tutorials/en/latest/random_sample_consensus.html (RANSAC)
https://answers.ros.org/question/229784/detecting-spheres-using-ransac-in-pcl/ (Sphere detection using RANSAC)
| | 2 | No.2 Revision |
PCL + RANSAC mentioned there could be a good start:
https://discourse.ros.org/t/how-to-identify-3d-shapes-rectangle-circle-and-square-using-ros-laser-scan-data/4790
https://pointclouds.org/ (PCL)
https://pcl.readthedocs.io/projects/tutorials/en/latest/random_sample_consensus.html (RANSAC)
https://answers.ros.org/question/229784/detecting-spheres-using-ransac-in-pcl/ (Sphere detection using RANSAC)
You would detect the configuration and position of the spheres/lines/planes and then use this info to move the robot where you wanted.
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