LiDAR Scanning Protocol

Scanning glazed pottery is notoriously difficult because the laser scatters on the shiny surface.

The Config

We modified the scanner intensity to account for the refraction index ($n$):

{
  "scanner_profile": "ceramics_gloss",
  "laser_intensity": 0.85,
  "multi_return": true,
  "filter_ghosts": true
}   

The Math of Reflection

We approximate the Lambertian reflection using a modified coefficient $\rho$:

$$ L_r = \frac{\rho}{\pi} E_i \cos(\theta_i) $$

For glazed surfaces, we simply ignore the specular component by polarizing the sensor filter.