Embedded Voxel Colouring

The reconstruction of a complex scene from multiple im- ages is a fundamental problem in the field of computer vision. Volu- metric methods have proven to be a strong alternative to traditional correspondence-based methods due to their flexible visibility models. In this paper we analyse existing methods for volumetric reconstruction and identify three key properties of voxel colouring algorithms: a water-tight surface model, a monotonic carving order, and causality .W e present a new Voxel Colouring algorithm which embeds all reconstructions of a scene into a single output. While modelling exact visibility for arbitrary camera locations, Embedded Voxel Colouring removes the need for a priori threshold selection present in previous work. An efficient imple- mentation is given along with results demonstrating the advantages of posteriori threshold selection.