LAUSR

In this article we consider the problem of finding the visibility set from a given point when the obstacles are represented as the level set of a given function. Although the visibility set can be computed efficiently by ray tracing, there are advantages to using a level set representation for the obstacles, and to characterizing the solution using a partial differential equation (PDE). A nonlocal PDE formulation was proposed in Tsai et al. (J Comput Phys 199(1):260–290. https://doi.org/10.1016/j.jcp.2004.02.015 , 2004): in this article we propose a simpler PDE formulation, involving a nonlinear obstacle problem. We present a simple numerical scheme and show its convergence using the framework of Barles and Souganidis. Numerical examples in both two and three dimensions are presented.