A camera system includes memory, image sensors, illuminators, and a processor. The processor operates the illuminators and the image sensors in a first mode to capture a two-dimensional image of the scene using light transmitted by the illuminators and reflected from the scene. The processor operates in a second mode to capture a plurality of images of the scene, including capturing a first image of the scene while one or more of the illuminators are activated and capturing a second image of the scene is while none of the illuminators are activated. The images are transmitted to a remote cloud computing system. The remote system constructs a light intensity map for the scene using the first and second images, and identifies a first region in the light intensity map as a glass surface when the light intensity values for the first region are below a threshold value corresponding to glass.