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Current object recognition methods fail on object sets that include both diffuse, reflective and transparent materials, although they are very common in domestic scenarios. We show that a combination of cues from multiple sensor modalities, including specular reflectance and unavailable depth information, allows us to capture a larger subset of household objects by extending a state of the art object recognition method. This leads to a significant increase in robustness of recognition over a larger set of commonly used objects.
