Hi there, I've done some literature research but mostly on detection of transparent objects. Here are some pointers: http://www.goneneren.com/publications http://www.robotic.de/fileadmin/robotic/hillenbd/Hillenbrand_08.pdf http://www.willowgarage.com/additive-latent-feature-model-transparent-object-recognition I plan to attack this problem in the next half a year and I am thus very willing to hear about from the rest of community. cheers, D. On Fri, Apr 2, 2010 at 7:03 PM, Caroline Pantofaru wrote: > 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 > 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 >> > 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/ >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -- MSc. Dejan Pangercic PhD Student/Researcher Computer Science IX Technische Universität München Telephone: +49 (89) 289-17780 E-Mail: dejan.pangercic@in.tum.de WWW: http://ias.cs.tum.edu/people/pangercic