Methods and a system for identifying reflective surfaces in a scene are provided herein. The system may include a sensing device configured to capture a scene. The system may further include a storage device configured to store three-dimensional positions of at least some of the objects in the scene. The system may further include a computer processor configured to attempt to obtain a reflective surface representation for one or more candidate surfaces selected from the surfaces in the scene. In a case that the attempted obtaining is successful, computer processor is further configured to determine that the candidate reflective surface is indeed a reflective surface defined by the obtained surface representation. According to some embodiments of the present invention, in a case the attempted calculation is unsuccessful, determining that the recognized portion of the object is an object that is independent of the stored objects.