I haven't done a literature search, but off the top of my head I would be
tempted to look at the ground (if you can see it) to provide an indication
that there might be a wall. Sometimes there's a bit of wall beneath the
glass, or at least the flooring type/color/pattern will change. It's a hack,
but it might help.

On Fri, Apr 2, 2010 at 9:59 AM, Radu Bogdan Rusu <rusu@willowgarage.com>wrote:

> Yeah, plus they heavily depend on how the light reflects, angles, etc.
> Reflections are evil ;) I haven't seen too much
> work on actually getting stereo from that. Is there any work on
> artificially generating reflections by manipulating
> light (a PR2 with a flashlight moving around would be cool :) )?
>
> Cheers,
> Radu.
>
> Kurt Konolige wrote:
> > Don't forget that reflections will be seen by stereo as behind the
> glass...kk
> >
> > On Fri, Apr 2, 2010 at 9:44 AM, Radu Bogdan Rusu <rusu@willowgarage.com>
> wrote:
> >> Hi Eric,
> >>
> >> Ouch, glass walls. No, unfortunately there isn't a lot that can be done
> with LIDAR sensors there. You can try to use
> >> reflections to generate stereo data and hope for the best, but that's
> not going to work everytime. You are right,
> >> employing sonars might help. Did you check the literature to see what
> other people are using to deal with glass?
> >>
> >> Cheers,
> >> Radu.
> >>
> >> Eric Perko wrote:
> >>> Hey all,
> >>>
> >>> After looking at the wiki for ROS sonar packages, I started wondering.
> >>> Currently, the robots I work on have issues detecting glass walls, as
> >>> their primary range sensor is a SICK LMS291, which pings right through
> >>> the glass (obviously). To solve this for a robotic tour guide
> >>> application, we are looking into sonars.
> >>>
> >>> So my question is, what are some approaches that you use to detect
> >>> things such as glass walls that both LIDARs and cameras might have
> >>> trouble with? Can the PR2 see glass walls and, if so, how?
> >>>
> >>> Thanks
> >>> Eric Perko
> >>> wisesage5001@gmail.com
> >>> eric.perko@case.edu
> >>> mobilerobots.case.edu
> >>> _______________________________________________
> >>> ros-users mailing list
> >>> ros-users@code.ros.org
> >>> https://code.ros.org/mailman/listinfo/ros-users
> >> --
> >> | Radu Bogdan Rusu | http://rbrusu.com/
> >> _______________________________________________
> >> ros-users mailing list
> >> ros-users@code.ros.org
> >> https://code.ros.org/mailman/listinfo/ros-users
> >>
>
> --
> | Radu Bogdan Rusu | http://rbrusu.com/
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