This paper presents a method for determining feasible axes of rotation for setup planning, based on the visibility of a polyhedral model. The intent of this work was to develop a feature-free approach to setup planning, with the specific focus on multi-axis machine setups. Visibility mapping can provide a quantitative evaluation of a surface, a feature or an entire part model; however, the next step is to use this information for process planning. In this paper, we present an approach of using a visibility map to evaluate axes of rotation that could be used in an indexer-type setup on a machine tool. Instead of using expensive and complicated multi-axis machining, it may be feasible to machine using multiple three-axis toolpaths if a single axis of rotation can be used to rotate the part through the minimum set of orientations. An algorithm is presented that is capable of processing visibility information from a polyhedral model; hence, the method is generic and does not require feature detection. As such, the work is applicable to a variety of applications; in particular for subtractive rapid prototyping where complex geometry may not contain recognizable features.