Household Service Robotics

Chapter 4.3

Robust Recognition of Planar Mirrored Walls

Yan Lu,  and Dezhen Song     Department of Computer Science and Engineering, Texas A&M University, College Station, TX, USA

Abstract

Buildings consume around 40% of the overall energy in the world. A planar mirror detection problem (PMDP) arises when surveying reflective building surfaces for building energy retrofits. PMDP is also important for collision avoidance when robots navigate close to highly reflective glassy walls. Our approach uses two views from an onboard camera. First, we derive geometric constraints for corresponding real–virtual features across two views. The constraints include (1) the mirror normal as a function of vanishing points of lines connecting the real–virtual feature ...