2d laser scan - object recognition

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Hi folks,

I've got to detect objects. The objects have a given shape, an equilateral triangle of a known size and thickness which got its corners cut off (more like a hexagon with three long and three short sides). They primarily can have one of two poses: standing on one of their long sides or lying on the front/back. I need to know their position within a static, known rectangular area and their orientation/pose.

At the moment I've only got a laser scanner to detect them. What would be the best approach to do such kind of an object detection?

Thanks a lot!

Cheers, Hendrik