Photorealistic scene reconstruction by voxel coloring

A novel scene reconstruction technique is presented, different from previou s approaches in its ability to cope with large changes in visibility and it s modeling of intrinsic scene color and texture information. The method avo ids image correspondence problems by working in a discretized scene space w hose voxels are traversed in a fixed visibility ordering. This strategy tak es full account of occlusions and allows the input cameras to be far apart and widely distributed about the environment. The algorithm identifies a sp ecial set of invariant voxels which together form a spatial and photometric reconstruction of the scene, fully consistent with the input images. The a pproach is evaluated with images from both inward-facing and outward-facing cameras.