Relevant with the problem of Active Information Seeking, we have recently released the following open source toolbox:

Receding Horizon Next Best View Planning
Repo: https://github.com/ethz-asl/nbvplanner

If you use this software in a scientific publication, please cite the following paper:

@INPROCEEDINGS{bircher2016receding, 
author = "{A. Bircher, M. Kamel, K. Alexis, H. Oleynikova and R. Siegwart}",
booktitle = {Robotics and Automation (ICRA), 2016 IEEE International Conference on}, 
title={Receding Horizon "Next-Best-View" Planner for 3D Exploration},
year={2016}, 
month={May}, 
note={(accepted)}, 
}

The following video presents results using this algorithm: