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This paper presents a method to detect reflection of 3D light detection andranging (Lidar) scans and uses it to classify the points and also map objectsoutside the line of sight. Our software uses several approaches to analyze thepoint cloud, including intensity peak detection, dual return detection, planefitting, and finding the boundaries. These approaches can classify the pointcloud and detect the reflection in it. By mirroring the reflection points onthe detected window pane and adding classification labels on the points, we canimprove the map quality in a Simultaneous Localization and Mapping (SLAM)framework. Experiments using real scan data and ground truth data showcase theeffectiveness of our method.

Mapping with Reflection -- Detection and Utilization of Reflection in 3D Lidar Scans