I've recently started working on a graphics/SLAM project. I've encountered a problem that requires the measurement or inference of the color / spectral reflectance (and ideally albedo) of points on objects in a cone-shaped field of view from ~1-10m away.
Currently, I'm using an IR sensor to determine distance and angle, and I'm also measuring reflectivity (over the wavelength of IR light that the sensor uses). Ideally I'd like to be able to assign a color value to every point of the point cloud generated by the IR sensor (the color measurement doesn't need to be particularly accurate).
I was thinking that maybe with the IR sensor I 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!