Yinjie Li

1. Introduction Localization and mapping are key capabilities of mobile robots. Together with navigation, they often rely on utilizing LiDAR sensors to perceive the range of the surrounding environment [1]. Especially in urban and indoor scenes, plenty of reflective surfaces are present, which are prone to cause inconsistent range measurements because the beams of the LiDAR sensor may register the reflective surface, the reflected range, or, in the case of glass, the obstacle behind the glass.