Multi-viewpoint visibility coverage estimation for 3D environment perception volumetric representation as a gateway to high resolution data

Estimation of visibility is a crucial element of coverage estimation of large, complex environments. This non-probabilistic problem is often tackled in a 2D context. We present an algorithm that can estimate the visibility of a high resolution scene from a low resolution 3D representation. An octree based voxel representation provides a dataset that is easy to process. Voxel occupancy properties ensure a good approximation of visibility at high resolution. Our system is capable of producing a reasonable solution to the viewpoint placement issue of the Art gallery problem.