The Reflectance Field Map: Mapping Glass and Specular Surfaces in Dynamic Environments
Paul Foster,Collin Johnson,Benjamin Kuipers,Paul Foster,Collin Johnson,Benjamin Kuipers
We present the Reflectance Field Map, a reliable real-time method for detecting shiny surfaces, like glass, metal, and mirrors, with lidar. The Reflectance Field Map combines the theory developed for Light Field Mapping, common in computer graphics, with occupancy grid mapping. Like early methods for sonar-based robot mapping, we show how the addition of angular viewpoint information to a standard...
