Target object
Sensor
Robot/Platform
Simulation environment
Spatial representation
View search space
Shape knowledge
View determination
Path planning
Termination
Performance evaluation
Structured light
Time-of-Flight (ToF)
Range sensor
(unspecified)
Ground mobile robot
Not considered
In-house
Gazebo
Nomad simulator
No simulation
2D occupancy map
2D/3D vector field
2D polygonal layout
Frontier-based
exploration
Occlusion boundary
surface gain
# of unknown voxel
Vector field guided
Information-theoretic
(entropy reduction)
Seen free space
Environment
modeling
Dijkstra approach
A* approach
Potential fields
Information gain in
edges/actions
Not considered
Completeness
(mesh/voxel or
feasible views)
Not described
Visual completeness
Visual trajectory path
Time
Distance traveled
Volume (explored)
Entropy reduced
Self measurement
only
None
Planar view space
Not considered
2D layout