VF-Plan: Bridging the Art Gallery Problem and Static LiDAR Scanning with Visibility Field Optimization
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Date
2025
Journal Title
Journal ISSN
Volume Title
Publisher
The Eurographics Association
Abstract
Viewpoint planning is critical for efficient 3D data acquisition in applications such as 3D reconstruction, building life-cycle management, navigation, and interior decoration. However, existing methods often neglect key optimization objectives specific to static LiDAR systems, resulting in redundant or disconnected viewpoint networks. The viewpoint planning problem (VPP) extends the classical Art Gallery Problem (AGP) by requiring full coverage, strong registrability, and coherent network connectivity under constrained sensor capabilities. To address these challenges, we introduce a novel Visibility Field (VF) that accurately captures the directional and range-dependent visibility properties of static LiDAR scanners. We further observe that visibility information naturally converges onto a 1D skeleton embedded in the 2D space, enabling significant searching space reduction. Leveraging these insights, we develop a greedy optimization algorithm tailored to the VPP, which constructs a minimal yet fully connected Viewpoint Network (VPN) with low redundancy. Experimental evaluations across diverse indoor and outdoor scenarios confirm the scalability and robustness of our method. Compared to expert-designed VPNs and existing state-of-the-art approaches, our algorithm achieves comparable or fewer viewpoints while significantly enhancing connectivity. In particular, it reduces the weighted average path length by approximately 95%, demonstrating substantial improvements in compactness and structural efficiency. Code is available at https://github.com/xiongbiaostar/VFPlan.
Description
CCS Concepts: Theory of computation → Computational geometry
@inproceedings{10.2312:pg.20251289,
booktitle = {Pacific Graphics Conference Papers, Posters, and Demos},
editor = {Christie, Marc and Han, Ping-Hsuan and Lin, Shih-Syun and Pietroni, Nico and Schneider, Teseo and Tsai, Hsin-Ruey and Wang, Yu-Shuen and Zhang, Eugene},
title = {{VF-Plan: Bridging the Art Gallery Problem and Static LiDAR Scanning with Visibility Field Optimization}},
author = {Xiong, Biao and Zhang, LongJun and Huang, Ruiqi and Zhou, Junwei and Jafri, Syed Riaz un Nabi and Wu, Bojian and Li, Fashuai},
year = {2025},
publisher = {The Eurographics Association},
ISBN = {978-3-03868-295-0},
DOI = {10.2312/pg.20251289}
}