Next Best View Planner

• View planning in NP-hard since it corresponds to the art-gallery problem [O'Rourke 1993].

• Given a ground plane (polygon) the problem of finding a set of positions from which the whole environment is visable can be reduced to set cover: NBV £RP SetCover [Latombe 1998].

• Planning Next Best Views for exploration is an Online-Problem, i.e., an efficient exploration strategy is required.