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You should check this paper presenting the Adaptative Ray Clustering (ARC) algorithm. It believe it could be adpated to work with the intensenties too.

Basically it parses all the distances returned by the lidar, for each beam you check the difference of its distance with the dstance of the next beam. If this difference is under a threshold (that you define) then you put the two beams in the same cluster, if not then you create another cluster. Doing that you can create multiples cluster and use those clusters for lines/corners extraction.

Since you have a custom docking station you should know how many clusters you should have and their length so you could apply the same algorithm using the intensities if the variation of the intenisty is big enough to detect the pattern.