An imaging system comprising: a processing unit comprising one or more processors; and an imaging unit coupled to the processing unit and comprising: one or more first illuminators for providing illumination of a region of interest; one or more first detectors for detecting reflections of the illumination; one or more second illuminators for triggering fluorescing of one or more fluorescent materials in the region of interest; and one or more second detectors for detecting the fluorescing of the fluorescent materials; wherein the processing unit is configured to: receive a first image from the one or more first detectors, the first image including a first reflection from the detected reflections; determine one or more regions of high specular reflection in the first image; mask out the one or more regions of high specular reflection in the first image; generate a composite image based on the masked first image and the detected fluorescence; form a second image based on a second reflection from the detected reflections of the illumination, the second reflection being detected using a different imaging geometry than the first reflection; estimate a surface normal in the region of interest based on differences between the first image and the second image; and provide one or more move away hints based on the estimated surface normal. a processing unit comprising one or more processors; and an imaging unit coupled to the processing unit and comprising: one or more first illuminators for providing illumination of a region of interest; one or more first detectors for detecting reflections of the illumination; one or more second illuminators for triggering fluorescing of one or more fluorescent materials in the region of interest; and one or more second detectors for detecting the fluorescing of the fluorescent materials; one or more first illuminators for providing illumination of a region of interest; one or more first detectors for detecting reflections of the illumination; one or more second illuminators for triggering fluorescing of one or more fluorescent materials in the region of interest; and one or more second detectors for detecting the fluorescing of the fluorescent materials; wherein the processing unit is configured to: receive a first image from the one or more first detectors, the first image including a first reflection from the detected reflections; determine one or more regions of high specular reflection in the first image; mask out the one or more regions of high specular reflection in the first image; generate a composite image based on the masked first image and the detected fluorescence; form a second image based on a second reflection from the detected reflections of the illumination, the second reflection being detected using a different imaging geometry than the first reflection; estimate a surface normal in the region of interest based on differences between the first image and the second image; and provide one or more move away hints based on the estimated surface normal. receive a first image from the one or more first detectors, the first image including a first reflection from the detected reflections; determine one or more regions of high specular reflection in the first image; mask out the one or more regions of high specular reflection in the first image; generate a composite image based on the masked first image and the detected fluorescence; form a second image based on a second reflection from the detected reflections of the illumination, the second reflection being detected using a different imaging geometry than the first reflection; estimate a surface normal in the region of interest based on differences between the first image and the second image; and provide one or more move away hints based on the estimated surface normal. <EOS>