Methods and apparatus for constructing a 3D model of a scene from calibrated images of the scene

This invention relates to methods and apparatus for volumetric scene reconstruction from a set of input images of the scene and, more particularly, to methods and apparatus for reconstructing a high quality 3D model of the scene that is consistent with the input images. Methods and apparatus are provided for volumemetric scene reconstruction. Given a set of images of the scene taken from arbitrary but known locations, a 3D model of the scene is reconstructed. Voxels are used to model the scene and exploit the fact that surface points in the scene, and the voxels that represent them, project to consistent colors in the input images. Input cameras may be placed at arbitrary locations in and around the scene. When checking the color consistency of a voxel, the entire set of images from which the voxel is visible is used. A GVC algorithm utilizes item buffers which contain, for each pixel in each image, the ID of the closest voxel that projects onto to the pixel. A GVC-LDI algorithm uses layered depth images which store at each pixel location a list of all the surface voxels that project onto the pixel, sorted according to the distance of the voxel from the image's camera.