We report the results of the angular-dependent magnetoresistance oscillations (AMROs), which can determine the shape of bulk Fermi surfaces in quasi-two-dimensional (Q2D) systems, in a highly hole-doped Fe-based superconductor KFe$_2$As$_2$ with $T_c approx$ 3.7 K. From the AMROs, we determined the two Q2D FSs with rounded-square cross sections, corresponding to 12% and 17% of the first Brillouin zone. The rounded-squared shape of the FS cross section is also confirmed by the analyses of the interlayer transport under in-plane fields. From the obtained FS shape, we infer the character of the 3d orbitals that contribute to the FSs.
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