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How to build a virtual grid(polar) to put 3D points in bins and detect objects at different height in MATLAB ?

I have 3D points of a scene by using libviso2, Now I want to build a virtual grid (polar) to put the points in bins and detect objects at different heights. To search for the ground plane in the scene, I want to use RANSAC and the equation of a plane in 3D. My input images to the visualSLAM (libviso2) are images from a stereo camera.

Is there any available open source code which can do this?