Sven Oesau, Yannick Verdié, Clément Jamin, and Pierre Alliez
This CGAL component will implement the Efficient RANSAC method  for primitive shape detection. From an unstructured point set with unoriented normals, the algorithm is able to detect a set of primitive shapes (plane, sphere, cylinder, cone and torus).
Status: Submitted to the Editorial Board and targeted for CGAL 4.7, Autumn 2015
 Ruwen Schnabel, Roland Wahl, and Reinhard Klein, Efficient RANSAC for Point-Cloud Shape Detection, Computer Graphics Forum (June 2007), 26:2(214-226).