  Transparent surfaces, such as glass, transmit most of the visible light that
falls on them, making accurate pose estimation challenging. We propose a method
to locate glass objects to millimetre accuracy using a simple Laser Range
Finder (LRF) attached to the robot end-effector. The method, derived from a
physical understanding of laser-glass interactions, consists of (i) sampling
points on the glass border by looking at the glass surface from an angle of
approximately 45 degrees, and (ii) performing Iterative Closest Point
registration on the sampled points. We verify experimentally that the proposed
method can locate a transparent, non-planar, side car glass to millimetre
accuracy.
