US Patent 10281916 Detection of transparent elements using specular reflection

A method, device, and system for detecting transparent elements in a vehicle environment are described. In some examples, this may include accessing an image of a scene captured by an image capture device attached to a vehicle. A reflected image present in the image may be detected. The reflected image may include a portion of the vehicle. It may be determined that the scene includes a transparent element based at least in part on detecting the reflected image present in the image.