T\v{r}iVis: Versatile, Reliable, and High-Performance Tool for Computing Visibility in Polygonal Environments

TL;DR

TiVis is a C++ library that significantly improves the speed and reliability of computing visibility in complex polygonal environments, benefiting applications in surveillance, robotics, and gaming.

Contribution

The paper introduces TiVis, a versatile and high-performance visibility computation library that outperforms existing solutions in speed and reliability.

Findings

TiVis outperforms existing libraries by at least an order of magnitude in query times.

TiVis demonstrates more reliable runtime behavior in complex environments.

The library is easy to use and free for research and institutional purposes.

Abstract

Visibility is a fundamental concept in computational geometry, with numerous applications in surveillance, robotics, and games. 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, 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 https://github.com/janmikulacz/trivis.