# Detection and Mapping of Specular Surfaces Using Multibounce Lidar Returns

arXiv: https://arxiv.org/abs/2209.03336 · HTML: https://mlsanity.com/paper/2209.03336/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 0 of its 16 references that are in the map.
- First posted on arXiv 7 Sep 2022.

## Built on by (most cited first, 4 of 4)

- [ORCa: Glossy Objects as Radiance Field Cameras](https://mlsanity.com/paper/2212.04531/) (2022)
- [Enhancing Autonomous Navigation by Imaging Hidden Objects using Single-Photon LiDAR](https://mlsanity.com/paper/2410.03555/) (2024)
- [3DRef: 3D Dataset and Benchmark for Reflection Detection in RGB and Lidar Data](https://mlsanity.com/paper/2403.06538/) (2024)
- [Shoot-Bounce-3D: Single-Shot Occlusion-Aware 3D from Lidar by Decomposing Two-Bounce Light](https://mlsanity.com/paper/2512.06080/) (2025)

## Abstract (arXiv)

We propose methods that use specular, multibounce lidar returns to detect and map specular surfaces that might be invisible to conventional lidar systems that rely on direct, single-scatter returns. We derive expressions that relate the time- and angle-of-arrival of these multibounce returns to scattering points on the specular surface, and then use these expressions to formulate techniques for retrieving specular surface geometry when the scene is scanned by a single beam or illuminated with a multi-beam flash. We also consider the special case of transparent specular surfaces, for which surface reflections can be mixed together with light that scatters off of objects lying behind the surface.