US 12,449,514 B1
Glass detection using lidar
Prakriti Chintalapoodi, San Jose, CA (US); Rui Zhang, Palo Alto, CA (US); and Eric Foxlin, Belmont, CA (US)
Assigned to Amazon Technologies, Inc., Seattle, WA (US)
Filed by Amazon Technologies, Inc., Seattle, WA (US)
Filed on Sep. 29, 2021, as Appl. No. 17/488,913.
Int. Cl. G01S 7/48 (2006.01); G01S 7/481 (2006.01); G01S 17/10 (2020.01); G01S 17/89 (2020.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01)
CPC G01S 7/4817 (2013.01) [G01S 17/10 (2013.01); G01S 17/89 (2013.01); G05D 1/024 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method, the method comprising:
generating, at a first time, a first portion of first data corresponding to a first association between a first obstacle and a first location in a room;
determining a second location of a device in the room at the first time;
generating, using the first data, line data;
determining, using the line data and the second location, a first angle value indicating a first angle of the second location relative to a surface normal of the first obstacle;
determining, using the first angle value, that the first location corresponds to a specular surface; and
generating, using the line data, map data, the map data including information indicating that the first location corresponds to the specular surface.