The article titled ‘GPU-Accelerated 3D Polygon Visibility Volumes for Synergistic Perception and Navigation’ focuses on UAV missions that often require geometric constraints between ground locations and the vehicle location. It introduces a system that calculates the 3D volume enclosing all 3D coordinates from which a 2D convex planar region can be entirely viewed, referred to as a visibility volume. The approach uses depth map computation with GPU-acceleration and geometric boolean operations. The solutions require complex 3D geometric analysis techniques and arbitrary precision arithmetic on a collection of discontinuous and non-analytic surfaces. The algorithm provides a synergistic perception and navigation-sensitive solution yielding a volume of coordinates in 3D that satisfy both the mission path and sensing needs.
Publication date: 6 Feb 2024
Project Page: Not Provided
Paper: https://arxiv.org/pdf/2402.03135
