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There are few known workarounds. One of which involves the flat mirrors. You can use a technique I call "angle bisection". This method works by getting to a position close to the mirror's path and looking what's in the mirror. You then find the object shown in the mirror, map its position and bisect the angle (split it in half). This gives the angle the mirror is facing. You then calculate the width of the mirror and add 10% of my distance from the nearest edge of the mirror to create the "hazard zone". This technique does not work, however, with those stubborn curved mirrors. The curved mirrors are the worst. I take longer to find the object in the mirror, sometimes even twice as long, as it does for me to map the position, bisect the angle, and create the "hazard zone" from all those calculations.

[bort]