{"id":"https://openalex.org/W2963183586","doi":"https://doi.org/10.1109/lra.2019.2931280","title":"Computing 3-D From-Region Visibility Using Visibility Integrity","display_name":"Computing 3-D From-Region Visibility Using Visibility Integrity","publication_year":2019,"publication_date":"2019-07-25","ids":{"openalex":"https://openalex.org/W2963183586","doi":"https://doi.org/10.1109/lra.2019.2931280","mag":"2963183586"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2931280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2931280","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027873519","display_name":"Jixuan Zhi","orcid":"https://orcid.org/0000-0001-6839-7487"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jixuan Zhi","raw_affiliation_strings":["Department of Computer Science, George Mason University, Fairfax, VA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, George Mason University, Fairfax, VA, USA","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101884099","display_name":"Yue Hao","orcid":"https://orcid.org/0000-0002-0214-7669"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yue Hao","raw_affiliation_strings":["Department of Computer Science, George Mason University, Fairfax, VA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, George Mason University, Fairfax, VA, USA","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088437949","display_name":"Christopher Vo","orcid":null},"institutions":[{"id":"https://openalex.org/I4210093801","display_name":"Sentien (United States)","ror":"https://ror.org/00hgn5a42","country_code":"US","type":"company","lineage":["https://openalex.org/I4210093801"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher Vo","raw_affiliation_strings":["Sentien Robotics, Inc., AES Corporation, Arlington, VA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sentien Robotics, Inc., AES Corporation, Arlington, VA, USA","institution_ids":["https://openalex.org/I4210093801"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048101285","display_name":"Marco Morales","orcid":"https://orcid.org/0000-0003-1824-2350"},"institutions":[{"id":"https://openalex.org/I187481652","display_name":"Instituto Tecnol\u00f3gico Aut\u00f3nomo de M\u00e9xico","ror":"https://ror.org/029md1766","country_code":"MX","type":"education","lineage":["https://openalex.org/I187481652"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Marco Morales","raw_affiliation_strings":["Departamento de Sistemas Digitales, Instituto Tecnol\u00f3gico Aut\u00f3nomo de M\u00e9xico, Mexico City, Mexico"],"raw_orcid":"https://orcid.org/0000-0003-1824-2350","affiliations":[{"raw_affiliation_string":"Departamento de Sistemas Digitales, Instituto Tecnol\u00f3gico Aut\u00f3nomo de M\u00e9xico, Mexico City, Mexico","institution_ids":["https://openalex.org/I187481652"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019967864","display_name":"Jyh\u2010Ming Lien","orcid":"https://orcid.org/0000-0002-0840-6131"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jyh-Ming Lien","raw_affiliation_strings":["Department of Computer Science, George Mason University, Fairfax, VA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0840-6131","affiliations":[{"raw_affiliation_string":"Department of Computer Science, George Mason University, Fairfax, VA, USA","institution_ids":["https://openalex.org/I162714631"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5027873519"],"corresponding_institution_ids":["https://openalex.org/I162714631"],"apc_list":null,"apc_paid":null,"fwci":5.5143,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.96427579,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"4","issue":"4","first_page":"4286","last_page":"4291"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.969192385673523},{"id":"https://openalex.org/keywords/visibility-graph","display_name":"Visibility graph","score":0.6458049416542053},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6273688077926636},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6029995679855347},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.5123025178909302},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.4619932472705841},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.4572261869907379},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34989428520202637},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33373457193374634},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2462587058544159},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22231361269950867},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.09811154007911682},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.09082472324371338},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08393961191177368},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06742435693740845}],"concepts":[{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.969192385673523},{"id":"https://openalex.org/C173362246","wikidata":"https://www.wikidata.org/wiki/Q8216024","display_name":"Visibility graph","level":3,"score":0.6458049416542053},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6273688077926636},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6029995679855347},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.5123025178909302},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.4619932472705841},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.4572261869907379},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34989428520202637},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33373457193374634},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2462587058544159},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22231361269950867},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.09811154007911682},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.09082472324371338},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08393961191177368},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06742435693740845},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2019.2931280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2931280","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6000000238418579}],"awards":[{"id":"https://openalex.org/G474953890","display_name":null,"funder_award_id":"FA9550-12-1-0238","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"}],"funders":[{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W958831818","https://openalex.org/W1495783282","https://openalex.org/W1515655759","https://openalex.org/W1583822592","https://openalex.org/W1639314241","https://openalex.org/W1997417333","https://openalex.org/W2018779169","https://openalex.org/W2025331888","https://openalex.org/W2037399936","https://openalex.org/W2050160393","https://openalex.org/W2072427892","https://openalex.org/W2087787973","https://openalex.org/W2096605829","https://openalex.org/W2101696238","https://openalex.org/W2103524001","https://openalex.org/W2123531537","https://openalex.org/W2128990851","https://openalex.org/W2150312211","https://openalex.org/W2153616232","https://openalex.org/W2163178194","https://openalex.org/W2332686621","https://openalex.org/W2396409809","https://openalex.org/W6637059646","https://openalex.org/W6668909307"],"related_works":["https://openalex.org/W2743652671","https://openalex.org/W2911638885","https://openalex.org/W2032709970","https://openalex.org/W2066813664","https://openalex.org/W2094166299","https://openalex.org/W2519024191","https://openalex.org/W2159176266","https://openalex.org/W2963183586","https://openalex.org/W4388826510","https://openalex.org/W1608416195"],"abstract_inverted_index":{"Visibility":[0],"integrity":[1,35,58],"(VI)":[2],"is":[3],"a":[4,49,88,93,111,115,120,129,143],"measurement":[5],"of":[6,11,21,56,74,152],"similarity":[7],"between":[8],"the":[9,19,54,61,72,80,84,147,157],"visibilities":[10],"regions.":[12],"It":[13,28],"can":[14,97],"be":[15,98],"used":[16],"to":[17,68,118,127,131,149,171],"approximate":[18],"visibility":[20,34,57,75,134,151],"coherently":[22],"moving":[23],"targets,":[24],"called":[25],"group":[26,133,136,153],"visibility.":[27],"has":[29],"been":[30],"shown":[31],"that":[32,51,83,91],"computing":[33],"using":[36],"agglomerative":[37],"clustering":[38],"takes":[39],"O(n4":[40,65],"log":[41,66],"n)":[42,67],"for":[43,79,146],"n":[44],"samples.":[45],"Here,":[46],"we":[47,77,105,124],"present":[48],"method":[50],"speeds":[52],"up":[53],"computation":[55],"and":[59,114,135,168],"reduces":[60],"time":[62,82],"complexity":[63],"from":[64],"O(n2).":[69],"Based":[70],"on":[71],"idea":[73],"integrity,":[76],"show":[78],"first":[81],"visibility-integrity":[85],"roadmap":[86],"(VIR),":[87],"data":[89],"structure":[90],"partitions":[92],"space":[94],"into":[95],"zones,":[96],"calculated":[99],"efficiently":[100],"in":[101,139,163],"3-D.":[102,140],"More":[103],"specifically,":[104],"offer":[106],"two":[107],"different":[108,164],"offline":[109],"approaches,":[110],"naive":[112],"one":[113],"kernel-based":[116],"one,":[117],"compute":[119],"VIR.":[121,158],"In":[122],"addition,":[123],"demonstrate":[125],"how":[126],"apply":[128],"VIR":[130],"solve":[132],"following":[137],"problems":[138],"We":[141,159],"propose":[142],"planning":[144,173],"algorithm":[145],"camera":[148],"maintain":[150],"targets":[154],"by":[155],"querying":[156],"evaluate":[160],"our":[161],"approach":[162],"3-D":[165],"simulation":[166],"environments":[167],"compare":[169],"it":[170],"other":[172],"methods.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-11T08:15:01.531666","created_date":"2025-10-10T00:00:00"}