Target object
Sensor
Robot/Platform
Simulation environment
Spatial representation
View search space
Shape knowledge
View determination
Path planning
Termination
Performance evaluation
Stereo camera
Monocular camera
Time-of-Flight (ToF)
Range sensor
(unspecified)
Ground mobile robot
Ground mobile robot
with robot arm
Micro aerial vehicle
(MAV)
Not considered
In-house
Gazebo
OpenAI Gym
V-REP
2D occupancy map
3D occupancy map
with probability
3D TSDF
3D point cloud
3D surface
Planar view space
3D view space
Prior 3D
pre-scanned
Surface
reconstruction
Not considered
Angle visibility
(incident angle
constraint)
Frontier-based
exploration
# of unknown voxel
Unknown surface
gain
Sampling density on
surface
Visual information
Machine learning
Reinforcement
learning
Information-theoretic
(entropy reduction)
Seen free space
Environment
modeling
A* approach
RRT approach
Information gain in
edges/actions
Not considered
Fixed # of operation
Completion based on
ground truth
Negligible
improvement/change
Completeness
(mesh/voxel or
feasible views)
Visual completeness
Visual trajectory path
# of scans
Time
Distance traveled
Volume (explored)
Surface (scan
coverage)
Entropy reduced
Quality
Reconstruction error
Self measurement
only
Building/Structure