“…On one hand, detecting the specular reflection can help us to infer the light direction, scene geometry [16] and camera location. On the other hand, the existence of specular reflection presents difficulties for many applications including image segmentation, object detection [11,25,26], pattern recognition [5], background subtraction [29,28,3], HDR reconstruction [44,37], tracking [7,27], and 3D reconstruction [24,18]. Therefore, the specular reflection from im- ages is a crucially important consideration in a variety of computer vision and robotics tasks.…”