   Fit 2 planes to a point cloud using clustering
  Hello folks, I have a 3D point cloud that I assume represents the geometry of 2 planes (like a range image from a wall corner etc.). Now I want to identify those 2 planes, which comes down to splitting the point cloud into 2 halfes and least-squares fit a plane to each half. How do I solve this task? My first idea was to use a 3D Hough with plane equation hoping that the accumulator image will show 2 obvious centroids, but it seems rather inefficient.Do you have a better idea?Thanks for your admittance!   