Towards Robust Voxel-Coloring: Handling Camera Calibration Errors and Partial Emptiness of Surface Voxels

In this paper, we present two new methods to reduce the effects of camera calibration errors and partial emptiness of surface voxels on voxel-coloring. Both of these sources of error introduce outlier pixels in voxel projections in the input images and thus result in over-carving of the reconstructed 3D scene. The existing methods to handle these errors are either insufficient or too complex. Our proposed methods are simple and can be incorporated into existing voxel-coloring algorithms easily. Our experimental results show that the methods proposed in this paper have the ability to improve the results of existing algorithms.