Wall following using RGBD camera
I want to make a robot move autonomously through an unknown environment and I have seen that the best approach is to move following a wall.
I have seen several examples using a laser scan, but I want to do it using an rgbd camera, which in fact provides a pointcloud2 of the enivronment captured.
Does any one know how to do this or if there is any example somewhere?
Thank you in advance!