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

• URL: http://arxiv.org/abs/2602.13720v1
• Date: Sat, 14 Feb 2026 11:01:40 GMT
• Title: FC-Vision: Real-Time Visibility-Aware Replanning for Occlusion-Free Aerial Target Structure Scanning in Unknown Environments
• Abstract summary: FC-Vision is an on-the-fly visibility-aware replanning framework for autonomous aerial scanning of target structures.<n>FC-Vision consistently improves scanning quality under unexpected occluders.
• Score: 27.67128708714023
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Autonomous aerial scanning of target structures is crucial for practical applications, requiring online adaptation to unknown obstacles during flight. Existing methods largely emphasize collision avoidance and efficiency, but overlook occlusion-induced visibility degradation, severely compromising scanning quality. In this study, we propose FC-Vision, an on-the-fly visibility-aware replanning framework that proactively and safely prevents target occlusions while preserving the intended coverage and efficiency of the original plan. Our approach explicitly enforces dense surface-visibility constraints to regularize replanning behavior in real-time via an efficient two-level decomposition: occlusion-free viewpoint repair that maintains coverage with minimal deviation from the nominal scan intent, followed by segment-wise clean-sensing connection in 5-DoF space. A plug-in integration strategy is also presented to seamlessly interface FC-Vision with existing UAV scanning systems without architectural changes. Comprehensive simulation and real-world evaluations show that FC-Vision consistently improves scanning quality under unexpected occluders, delivering a maximum coverage gain of 55.32% and a 73.17% reduction in the occlusion ratio, while achieving real-time performance with a moderate increase in flight time. The source code will be made publicly available.

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