Vision-Assisted Transparent-Aware LiDAR Mapping

Implementing a Fusion Pipeline, Combining Transparent-Aware Depth Estimation Network with LiDAR MapRole — Camera-LiDAR calibration (Unitree L1 LiDAR and Realsense D435i)

Lab project at GIST MPIL. We use vision cues to detect transparent / glass surfaces that LiDAR sees through, and inject those constraints back into the mapping pipeline so the resulting map remains correct in indoor environments full of windows and partitions.