The Hong Kong University of Science and Technology（香港科技大学）

FC-Vision: Real-Time Visibility-Aware Replanning for Occlusion-Free Aerial Target Structure Scanning in Unknown Environments

FC-Vision：未知环境中无遮挡空中目标结构扫描的实时可见性感知重规划

Chen Feng, Yang Xu, Shaojie Shen

机构 * Dept. of Electronic and Computer Engineering, The Hong Kong University of Science and Technology（电子与计算机工程系，香港科学与技术大学） 纠错

AI总结 提出FC-Vision框架，通过双层分解（无遮挡视点修复和分段清洁感知连接）实时施加密集表面可见性约束，在保持覆盖率和效率的同时主动防止目标遮挡，实现55.32%的覆盖率提升和73.17%的遮挡率降低。

Comments Accepted by IEEE Robotics and Automation Letters. 8 pages, 8 figures, 3 tables. Code: https://github.com/FC-Family/FC-Vision. Video: https://www.youtube.com/watch?v=H3C42zlDOAI