I've recently started working on a graphics/SLAM project. We've encountered a problem that requires us to measure or infer the color / spectral reflectance (and ideally albedo) of points on objects in a cone-shaped field of view from ~1-10m away.
Currently, we're using an IR sensor to determine distance and angle, and we're also measuring reflectivity (over the wavelength of IR light that the sensor uses). We now need to determine color, but we're not able to use visible light emissions on the robot, which complicates things. As the only person the team with any physics knowledge, I've been assigned this particular problem, but I don't know enough to even hypothesize about solutions.
The key requirement is that we're hoping to be able to assign a color to every point; however, the color doesn't need to be very accurate.
I was thinking that maybe with the IR sensor we could estimate the dielectric function of the material and then subsequently infer the spectral reflectance from those measurements? But it's been several years since I studied optics/E&M and even then it was only at an undergrad level. If anyone could shed some light on the problem I'd be very grateful!