Re: [ros-users] Detecting Glass Walls

Nice, thanks for the pointers, Dejan!

Radu.

Dejan Pangercic wrote:
> 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
> <pantofaru@willowgarage.com> 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 <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
>>>>>> _______________________________________________
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>>>>>> https://code.ros.org/mailman/listinfo/ros-users
>>>>> --
>>>>> | Radu Bogdan Rusu | http://rbrusu.com/
>>>>> _______________________________________________
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>>>>>
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>>> | Radu Bogdan Rusu | http://rbrusu.com/
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>
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