Let be a set of simple polygonal obstacles in the plane, then the nodes of the visibility graph of are just the vertices of , and there is an edge (called a visibility edge) between vertices and if these vertices are mutually visible.

# Visibility Graph

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## References

de Berg, M.; van Kreveld, M.; Overmans, M.; and Schwarzkopf, O. "Visibility Graphs: Finding the Shortest Route." Ch. 15 in*Computational Geometry: Algorithms and Applications, 2nd rev. ed.*Berlin: Springer-Verlag, pp. 307-317, 2000.

## Referenced on Wolfram|Alpha

Visibility Graph## Cite this as:

Weisstein, Eric W. "Visibility Graph."
From *MathWorld*--A Wolfram Web Resource. https://mathworld.wolfram.com/VisibilityGraph.html