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digitalmars.D - Recognize point clouds

Hi folks,

I am trying to recognize point clouds, like people, cars, 
vans..... I already have them separated into clusters.

I have tried PCL recognition tutorials but are not giving me good 
results,it relies too much in correspondence grouping. is there 
some kind of neural network with point clouds? or an algorithm 
like that?

I have work with a lot of them in images but haven't seen 
anything related to point clouds. Any advice on what can I try? 
any machine learning algorithm for point clouds?

I can work with ROS, Ubuntu, OpeCV, PCL and C++

Thank you

Jan 19 2018