# GSD-Constrained k-Coverage Viewpoint Planning via Set Multi-Cover Formulation

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/o66af4dmdfzd5ouoi7fry7h2y
- Original: https://arxiv.org/abs/2610.36450

## Summary

For multiple observations under image-quality constraints in drone-based 3D reconstruction and inspection, where overlap-based planning heuristics cannot guarantee such observations, this work models GSD-constrained k-coverage viewpoint selection as a set multi-cover problem. Candidate viewpoints are generated along outward surface normals, screened by distance, viewing angle, field of view, and occlusion, and then a dynamically weighted greedy heuristic prioritizes coverage gaps and scarce viewing angles. Across two structures, four voxel resolutions, and three coverage requirements, the method achieves full or near-full k-coverage, using only 3.00%–16.39% more viewpoints than ILP.