Glass Detection Using Polarization Camera and LRF for SLAM in Environment with Glass

In this paper, we propose a method to detect glass in wide range for SLAM in environment with glass. Degree of polarization from polarization camera was used to detect glass which cannot be detected by laser range-finders (LRFs). Glass is only detectable with LRFs in small incident angle. Degree of polarization of reflected light on the surface of glass is large in large incident angle. The straight line of glass in LRFs' measurement was calculated, and detected as glass or vacant space by using degree of polarization. We verified the method experimentally, and the results show that our method can detect glass in wide range. glass detection, polarization, polarization camera, SLAM.