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Packages for landmark Extraction for SLAM

Hi, I am trying to implement my own version of EKF SLAM from scratch and I am using a Kinect Laser scan to get the landmarks. However, I do not want to write my own code to extract the landmarks(as it is going to take a lot of time), mostly corners, hence are there any packages in ROS which could help me detect landmarks in the environment using a Kinect Laser and also their co-ordinates?