2D laser scanners (profilers)

Hi everyone.

I got the 2d laser scanner to integrate with the robot. But my scanner issues only raw 2d point clouds. So I have to extract lines circles and so on from 2d point clouds. Which algorithm is good for this? Which algirithms has been applied by ServoRobot, Meta, ScanSonic, MicroEpsilon, KEYENCE ?

Thanks in advance