Visibility-aware Trajectory Optimization with Application to Aerial Tracking
Qianhao Wang,Yuman Gao,Jialin Ji,Chao Xu,Fei Gao,Qianhao Wang,Yuman Gao,Jialin Ji,Chao Xu,Fei Gao
The visibility of targets determines performance and even success rate of various applications, such as active slam, exploration, and target tracking. Therefore, it is crucial to take the visibility of targets into explicit account in trajectory planning. In this paper, we propose a general metric for target visibility, considering observation distance and angle as well as occlusion effect. We for...
