Robotics mapping pipelines store a line set from lidar scans to represent walls and corridors

http://ratten-wiki.de/index.php?title=Copper_Line_Set_Handling_Tips_to_Prevent_Damage_on_Site

Robotics mapping pipelines store a line set from lidar scans to represent walls and corridors, aiding localization and loop closure by matching segment orientations across sequential observations.