Target object
Sensor
Robot/Platform
Simulation environment
Spatial representation
View search space
Shape knowledge
View determination
Path planning
Termination
Performance evaluation
Triangulation-based
laser
Structured light
Stereo camera
Time-of-Flight (ToF)
Range sensor
(unspecified)
Manual operation
Rotation machine
Robot arm
Ground mobile robot
with robot arm
Micro aerial vehicle
(MAV)
In-house
Gazebo
V-REP
BlenSor
No simulation
3D voxel grid
3D occupancy map
with label
3D occupancy map
with probability
3D point cloud
3D surface
Prior 3D
pre-scanned
Surface
reconstruction
Primitive fitting
3D object recognition
Not considered
MVC/Global surface
normal
Outside the
bounding box
Seen free space
A* approach
RRT approach
Consider motion
uncertainty
Information gain in
edges/actions
Fixed # of operation
Completion based on
ground truth
Negligible
improvement/change
Completeness
(mesh/voxel or
feasible views)
Maximum # of scan
Visual completeness
Visual trajectory path
# of scans
Time
Distance traveled
Volume (explored)
Surface (scan
coverage)
Entropy reduced
Quality
Reconstruction error
Self measurement
only
None
Furniture size
Not considered
3D view space
Targeting surface
edge
Unknown surface
gain
Information-theoretic
(entropy reduction)
# of unknown voxel
Angle visibility
(incident angle
constraint)
Sampling density on
surface
Surface prediction