Question regarding path planning using real 3D sensors

Hello All,

           I am having a segmented  data (x,y,z) corresponding to the floor
(indoor environment) in front of the robot from Swissranger SR-3000 sensor.
I would like to know how can i use this data to plan a path from point A to
B (Assuming both are on the same segment ) using Player.

I am not sure in what way i should provide the data such that the player can
plan a path accordingly.

I am familiar with vfh, amcl, wavefront drivers and have written some basic
codes in simulation (player-stage), but the simulations uses Sick-LMS laser
scanner as the input sensor.
I would like to achieve similar results using the real data from SR-3000.

Your suggestions regarding the implementation steps would be highly
regarded,

Thanks,
Paddy
-- 




-- 
-Prasad

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