Library for Object Detection with Point Cloud Library (PCL)
This code is based on my bachelor thesis from 2012. All this does is detect tables (plane surfaces) and then all things on top of that are considered objects. I also have some code for object classification/recognition lying around somewhere, but didn't get around to putting it on github yet...
Disclaimer: I believe this was quite a nice project back in 2012, but I'm sure there must be something better in the PCL community now, so I wouldn't necessarily recommend using this.