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Research questionHow can indoor robots prevent glare-corrupted RGB-D measurements from creating phantom obstacles in navigation costmaps?Specular glare on reflective floors, glass, and glossy surfaces can create depth holes and spikes. When integrated into a navigation costmap, these artifacts may appear as obstacles or incorrectly clear free space, disrupting safe motion.
Computer Vision
Image & Video Processing
Machine Learning
Robotics
Latest papersRecent research connected to this question, newest first.Reliability-Guided RGB-D Sensor Fusion for Glare-Resilient Navigation CostmapsThe evidence concerns an RGB-D fusion system evaluated in glare-affected indoor scenes, using per-pixel depth reliability and gated costmap integration. Reported comparisons include sensor postprocessing, confidence filtering, and depth-completion baselines, with embedded runtime and navigation-safety results; performance outside the evaluated reflective indoor conditions is not established.research paper · Sep 3, 2026
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