Target object
Sensor
Robot/Platform
Simulation environment
Spatial representation
View search space
Shape knowledge
View determination
Path planning
Termination
Performance evaluation
Structured light
Robot arm
OpenAI Gym
OpenHRP
No simulation
3D occupancy map
with label
3D occupancy map
with probability
3D TSDF
3D point cloud
3D surface
Cylinder view space
Not considered
Frontier-based
exploration
RRT approach
Fixed # of operation
Visual completeness
Visual trajectory path
# of scans
Time
Distance traveled
Volume (explored)
Surface (scan
coverage)
Entropy reduced
Quality
Reconstruction error
Self measurement
only
None
Circular view space
3D view space
Planar view space
Spherical view space
Not considered
Occlusion boundary
surface gain
Targeting occlusion
surface
# of unknown voxel
Information-theoretic
(entropy reduction)
Seen free space
Outside the
bounding box
Environment
modeling
Completeness
(mesh/voxel or
feasible views)
Negligible
improvement/change
Maximum # of scan
Not described
Completion based on
ground truth
Targeting surface
edge
MVC/Global surface
normal
Sampling density on
surface
Unknown surface
gain
Visual information
Angle visibility
(incident angle
constraint)
Machine learning
Surface prediction
Reinforcement
learning
Small object
Triangulation-based
laser
Time-of-Flight (ToF)
Range sensor
(unspecified)
Monocular camera
No experiment
Stereo camera
Rotation machine
Cartesian robot
1D translator
2D translator
Not considered
Ground mobile robot
Ground mobile robot
with robot arm
Manual operation
Gazebo
BlenSor
In-house
OpenRAVE
Surface
reconstruction
Surface
trend/Surface patch
fitting
Prior 3D
pre-scanned
Machine learning
Primitive fitting
Icosahedron view
space