A Mirror Detection Method in the Indoor Environment Using a Laser Sensor

Abstract

When laser scanning is performed in some indoor environment, because of the mirror reflection problem, the exact information of the scene cannot be restored. In this paper, a method to detect the mirror based on mirror symmetry principle is proposed. By finding the corresponding relationship between the actual object and its image in the mirror, the position of the mirror could be determined without integrating any other sensor information.

Real-Time Intensity-Based Mirror Detection for Optimizing Point Cloud Data and Occupancy Grid Map

“…In this section, four environments with mirrors are built and the performance of our method is compared with the method proposed by Mora [23] and Li [15] in these environments.In the demonstration of performance, the accuracy is the ratio of the length of the mirror calculated by the algorithm to the actual length of the mirror.…”

“…To validate the performance of the method, we constructed three complex environments and compared it with those proposed by Mora [23] and Li [15]. The experimental results show that the proposed method improves recognition accuracy and real-time performance.…”

“…Yang et al [14] measured the uncertainty in mirror prediction using the Iterative Nearest Points (ICPs) algorithm, which predicts the approximate location of the mirror by setting the mirror length. Li et al [15] used their own robot as a reference point to obtain the position that is most likely to be the axis of symmetry of the mirror by iterating over a multi-frame point cloud. These two works are unable to achieve a better recognition effect in complex mirror environments because of the lack of determination of the approximate position of the mirror, and thus, they need to set the length of the mirror artificially or to obtain the mirror position through a large number of iterations.…”

Key points trajectory and multi-level depth distinction based refinement for video mirror and glass segmentation

“…Using some special equipment, e.g., laser sensor [15,16], ultrasonic sensor [17], polarization camera [18], thermal camera [19], light-field camera [20], depth camera [21,22] to segment mirror and glass materials is considered in recent years. Although the laser and ultrasonic data are very intuitive for mirror and glass segmentation, these special types of equipment are always expensive and sensitive, sometimes inconvenient to set up in an indoor environment.…”