Roof bolts are an essential component of roof support systems in underground mines. They are used to provide structural support to the roof of the mine and prevent it from collapsing. Therefore, it is imperative to perform regular assessments of these roof bolts to avert any hazards. Manual investigations of roof bolts are done by surveyors in underground mines, which is extremely timeconsuming and challenging due to the low-light conditions in underground mines accompanied by stringent mine access rules. To this end, automated recognition of roof bolts in 3D point cloud data obtained through laser scanning in underground mines serves as a potential solution to aid roof bolt monitoring. With the continuous advancements in laser scanning-based 3D data acquisition systems, the feasibility of making such surface estimations from 3D point cloud data has increased severalfold.