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In this paper we present a new algorithm that extends Seitz and Dyer's voxel coloring algorithm. This paper explores a method of voxel coloring which scans only the voxels on the surface of 3D reconstructed scene and the voxels of the nearest neighbors of the 3d reconstructed scene. This method reduces significantly the number of voxels to be processed and retaining the accuracy of actual voxel coloring method. With our algorithm, the time complexity rather than being O(n3), reduces to O(number of voxels on the surface of reconstructed scene). The significant advantage of our algorithm can be seen while increasing the number of voxels (or reducing the size of voxels), for greater accuracy of reconstructed results. We present efficiency measurements for comparisons. Our algorithm can also be used with the Voxel coloring method reported in, increasing significantly the speed of the scan.