ResearchBenchmarksTerrain Mapping on Synthetic terrain 300 stepsTerrain Mapping on Synthetic terrain 300 stepsFollow15,087.74EntropyIG12,798.183228,252.691643,707.259,161.7084Jun 9, 2026Evaluation resultsMethodMethodLinksEntropyMSECoverageAltitudeIGFoV=30°, Steps=300FoV=30°, Steps=3002026.0615,087.740.027499.517.82SweepFoV=30°, Steps=300FoV=30°, Steps=3002026.0617,898.260.032510021.6RandomFoV=30°, Steps=300FoV=30°, Steps=3002026.0672,326.660.159647.818.9