What if you can't separate the geometry you want from the geometry next to it, or the geometry it sets upon? That's the current public state of the art. Such systems become much more useful after they can identify objects so they can tell when two items are separate things, and when two sections of the same thing are in fact one object.
If you are making a robot that has to manipulate objects in it's environment, fair enough. If you are making a vehicle that just needs to know about the free "drivable" space in it's vicinity, the barrier is lower.
