Detect L-shapes in point cloud

Hello, I get a realtime pointing cloud from my laserscanner.

I have to detect a parking space and the two L-shapes in the figure.

Can someone help me how to start finding a solution.

Maybe it´s helpful to know that I use Matlab R2015 with a Simulink model.

Answer 1

[Image Analyst]

If you can write those coordinates as dots in an image, there is a corner() function in the Image Processing Toolbox that you can try.

[Dennis Sattelmaier]

I don´t know how you mean it to write the dots in an image. Is it possible to segmentate the points in the figure?

[Image Analyst]

Create an image

myImage = zeros(rows, columns, 'uint8');

Then set those pixels

xCalibrationFactor = columns / (max(x) - min(x));
yCalibrationFactor = rows / (max(y) - min(y));
for k = 1 : length(x)
  row = round(x(k) * xCalibrationFactor);
  column = round(y(k) * yCalibrationFactor);
  myImage(row, column) = 255;
end