Detection and Utilization of Reflections in LiDAR Scans through Plane Optimization and Plane SLAM
Yinjie Li,
Xiting Zhao,
Sören Schwertfeger
Abstract:In LiDAR sensing, glass, mirrors and other materials often cause inconsistent data readings from reflections. This causes problems in robotics and 3D reconstruction, especially with respect to localization, mapping and, thus, navigation. Extending our previous work, we construct a global, optimized map of reflective planes, in order to then classify all LiDAR readings at the end. For this, we optimize the reflective plane parameters of the plane detection of multiple scans. In a further method, we apply the re… Show more
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