Paper ID: 2410.08752

TřiVis: Versatile, Reliable, and High-Performance Tool for Computing Visibility in Polygonal Environments

Jan Mikula (1 and 2), Miroslav Kulich (1) ((1) Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, (2) Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague)

Visibility is a fundamental concept in computational geometry, with numerous applications in robotics, surveillance systems, video games, and other fields. This software paper presents T\v{r}iVis, a C++ library developed by the authors for computing numerous visibility-related queries in highly complex polygonal environments. Adapting the triangular expansion algorithm (TEA), T\v{r}iVis stands out as a versatile, high-performance, more reliable and easy-to-use alternative to current solutions that is also free of heavy dependencies. Through evaluation on a challenging dataset, T\v{r}iVis has been benchmarked against existing visibility libraries. The results demonstrate that T\v{r}iVis outperforms the competing solutions by at least an order of magnitude in query times, while exhibiting more reliable runtime behavior. T\v{r}iVis is freely available for private, research, and institutional use at this https URL

Submitted: Oct 11, 2024