3D Ultrasonic Sensor - data example

To demonstrate our raw sensor data, we built a 2 x 2 meters arena with different objects (e.g glass cube) and boundaries which consist of wall panels and a glass surface. We mounted one of our 3D ultrasonic sensors on a robot that navigates through the arena and visualized the sensor data via Rviz.
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[@FcoPulice]

What is the name of the algoritm to plot the wall whit the data of the sensor?