Efficiently Constructing the Visibility Graph of a Simple Polygon with Obstacles

This paper describes an output-sensitive scheme to construct the visibility graph of a simple polygon with m obstacles and n vertices in optimal O(|E| + T + m logn) time where |E| is the size of the visibility graph and T is the time required to triangulate the simple polygon with obstacles. We use a partition of the space into regions called corridors… CONTINUE READING