cooperrative localization

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hi i am working on cooperative localization based on kalman filter algoritm with fusing data from lidar and odometry i have a question in the measurment step of kalman filter, when i want to use the second robot as portable landmark i shoud recognize the second robot's point from other point inclouding the edge and wall by the data that are derived from laser scanner ,i don't know how i can write this code I would appreciate it if anyone could help me. Thanks a lot