AbstractA laser radar sensor provides 3D information about a scene by using range measurements. A Hough transform approach is used to extract geometric information from these range values in order to identify planar building walls. Features of the extracted walls, such as their size, orientation, and distance relative to other walls, can be used to match against a reference list of walls with this spatial information. Target location can then be estimated by solving simultaneous equations using matched planar surfaces. Experimental results of computed target locations are shown to be satisfactory.