diff --git a/corelib/src/Memory.cpp b/corelib/src/Memory.cpp
index e8406d3c..eed46118 100644
--- a/corelib/src/Memory.cpp
+++ b/corelib/src/Memory.cpp
@@ -3310,7 +3310,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
 						data.depthOrRightRaw().rows,
 						data.depthOrRightRaw().type(),
 						CV_16UC1, CV_32FC1, CV_8UC1).c_str());
-	UASSERT(data.laserScanRaw().empty() || data.laserScanRaw().type() == CV_32FC2 || data.laserScanRaw().type() == CV_32FC3 || data.laserScanRaw().type() == CV_32FC(4) || data.laserScanRaw().type() == CV_32FC(6));
+	UASSERT(data.laserScanRaw().empty() || data.laserScanRaw().type() == CV_32FC2 || data.laserScanRaw().type() == CV_32FC3 || data.laserScanRaw().type() == CV_32FC(4) || data.laserScanRaw().type() == CV_32FC(5) || data.laserScanRaw().type() == CV_32FC(6) || data.laserScanRaw().type() == CV_32FC(7));
 
 	if(!data.depthOrRightRaw().empty() &&
 		data.cameraModels().size() == 0 &&
diff --git a/corelib/src/SensorData.cpp b/corelib/src/SensorData.cpp
index af5cf7d9..7a45b953 100644
--- a/corelib/src/SensorData.cpp
+++ b/corelib/src/SensorData.cpp
@@ -195,7 +195,7 @@ SensorData::SensorData(
 		_depthOrRightRaw = depth;
 	}
 
-	if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3  || laserScan.type() == CV_32FC(4) || laserScan.type() == CV_32FC(6))
+	if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3  || laserScan.type() == CV_32FC(4) || laserScan.type() == CV_32FC(5) || laserScan.type() == CV_32FC(6) || laserScan.type() == CV_32FC(7))
 	{
 		_laserScanRaw = laserScan;
 	}
@@ -300,7 +300,7 @@ SensorData::SensorData(
 		_depthOrRightRaw = depth;
 	}
 
-	if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(4) || laserScan.type() == CV_32FC(6))
+	if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3  || laserScan.type() == CV_32FC(4) || laserScan.type() == CV_32FC(5) || laserScan.type() == CV_32FC(6) || laserScan.type() == CV_32FC(7))
 	{
 		_laserScanRaw = laserScan;
 	}
@@ -406,7 +406,7 @@ SensorData::SensorData(
 		_depthOrRightRaw = right;
 	}
 
-	if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(4) || laserScan.type() == CV_32FC(6))
+	if(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3  || laserScan.type() == CV_32FC(4) || laserScan.type() == CV_32FC(5) || laserScan.type() == CV_32FC(6) || laserScan.type() == CV_32FC(7))
 	{
 		_laserScanRaw = laserScan;
 	}
@@ -496,7 +496,7 @@ void SensorData::setOccupancyGrid(
 
 	if(!ground.empty())
 	{
-		if(ground.type() == CV_32FC2 || ground.type() == CV_32FC3 || ground.type() == CV_32FC(4) || ground.type() == CV_32FC(6))
+		if(ground.type() == CV_32FC2 || ground.type() == CV_32FC3 || ground.type() == CV_32FC(4) || ground.type() == CV_32FC(5) || ground.type() == CV_32FC(6) || ground.type() == CV_32FC(7))
 		{
 			_groundCellsRaw = ground;
 			ctGround.start();
@@ -509,7 +509,7 @@ void SensorData::setOccupancyGrid(
 	}
 	if(!obstacles.empty())
 	{
-		if(obstacles.type() == CV_32FC2 || obstacles.type() == CV_32FC3 || obstacles.type() == CV_32FC(4) || obstacles.type() == CV_32FC(6))
+		if(obstacles.type() == CV_32FC2 || obstacles.type() == CV_32FC3 || obstacles.type() == CV_32FC(4) || obstacles.type() == CV_32FC(5) || obstacles.type() == CV_32FC(6) || obstacles.type() == CV_32FC(7))
 		{
 			_obstacleCellsRaw = obstacles;
 			ctObstacles.start();