The methods reviewed on modeling of environment include : Visibility Graph, Free Space and Grid .
环境建模方面主要回顾的方法包括：可视图法、自由空间法和栅格法。
参考来源 - 智能移动机器人全局路径规划及仿真·2,447,543篇论文数据，部分数据来源于NoteExpress
以上来源于: WordNet
As an appendix, expression for escape sign, size of Graph and letter, colour, brightness, brightness contrast, visibility and apparent distance are also listed from technical requirements.
作为附录，还列出了疏散标志的表示方法、图形文字尺寸、颜色、亮度、亮度比、可见度、视距等技术要求。
Find all OQNs in the visited scene graph and set their visibility threshold.
查找已经遍历过的场景图中所有的OQN然后设置他们的可见性阈值。
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