1. A computer-implemented method comprising: receiving, by a computer system from a LIDAR unit, spatial-point data indicating a set of spatial points, each spatial point representing a point in three dimensions, wherein the set of spatial points corresponds to an object-of-interest; determining, for each spatial point, an associated projected point, each projected point representing a point in two dimensions; determining a set of line segments based on the determined projected points, wherein each respective line segment connects at least two determined projected points; determining an orientation of at least one determined line segment from the set of line segments; determining a heading of the object-of-interest based on at least the determined orientation; and controlling a vehicle, by the computer system, based on the determined heading of the object-of-interest.