发表机构
Carnegie Mellon University（卡内基梅隆大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
GlassGuard利用视觉和LiDAR互补证据，通过验证式重建平面玻璃，兼顾覆盖率与自由空间保护，在真实场景中实现85%覆盖率并减少5-17倍假体素。
AI 中文摘要
透明和镜面表面对基于LiDAR的SLAM和导航构成严重挑战，因为激光返回可能穿过玻璃，导致碰撞边界在地图中缺失。先前的工作试图重建缺失的表面，但不准确的障碍物放置可能造成相反的失败：污染可通行的自由空间。认识到这一双重需求，我们提出了GlassGuard，一个面向导航的框架，用于从互补的视觉和LiDAR证据中重建平面建筑玻璃。我们将成功定义为玻璃覆盖率和自由空间污染两方面，并将这一原则应用于提案验证和全局地图构建的全过程。一个基础视觉模型提供玻璃实例掩码，结构3D线索生成度量平面假设，无深度2D投影几何检查其方向，然后才进入合并的全局地图。我们在九个建筑规模场景中评估GlassGuard，涵盖多样化的玻璃结构、空间尺度和光照条件，包含超过一小时和2.1公里的真实机器人遍历。GlassGuard的全景版本实现了总玻璃覆盖率的85%。在相同的针孔输入下，GlassGuard实现了82%的总覆盖率，而评估的基线最多为61%，同时每帧产生的假体素减少了5-17倍。与导航规划器的定性示例展示了重建的平面阻挡穿过玻璃的路径，同时保持可通行的路线开放。项目页面可在https://this URL获取。
英文摘要
Transparent and specular surfaces pose a serious challenge to LiDAR-based SLAM and navigation because laser returns may pass through glass, leaving collision boundaries absent from the map. Prior work attempts to reconstruct the missing surfaces, but inaccurate obstacle placement can create the opposite failure: contamination of traversable free space. Recognizing this dual requirement, we present GlassGuard, a navigation-oriented framework for reconstructing planar architectural glass from complementary visual and LiDAR evidence. We formulate success in terms of both glass coverage and free-space contamination and apply this principle throughout proposal verification and global map construction. A foundation vision model provides glass-instance masks, structural 3D cues generate metric plane hypotheses, and depth-free 2D projective geometry checks their orientations before they enter a consolidated global map. We evaluate GlassGuard in nine building-scale scenes spanning diverse glass structures, spatial scales, and lighting conditions, with more than one hour and 2.1 km of real-world robot traversal. GlassGuard achieves 85% of total glass coverage for its panoramic version. Under identical pinhole inputs, GlassGuard achieves 82% total coverage, compared with at most 61% for the evaluated baselines, while producing 5-17x fewer false voxels per frame. Qualitative examples with a navigation planner illustrate the reconstructed planes blocking paths through glass while leaving traversable routes open. The project page is available at https://glassguardproject.github.io/.
Comments8 pages, 4 figures, 5 tables. Submitted to IEEE Robotics and Automation Letters
