Student or educator? Sign up with your school email and get 6 months of Pro free.
CoChat
Sign Up
Cited by 1,002

The DOI matches its Crossref record.

Real-time 3D reconstruction at scale using voxel hashing

Nießner, Matthias, Zollhöfer, Michael, Izadi, Shahram, Stamminger, Marc·2013·ACM Transactions on Graphics
DOI 10.1145/2508363.2508374
Open this paper in CoChat — free account

Abstract

Online 3D reconstruction is gaining newfound interest due to the availability of real-time consumer depth cameras. The basic problem takes live overlapping depth maps as input and incrementally fuses these into a single 3D model. This is challenging particularly when real-time performance is desired without trading quality or scale. We contribute an online system for large and fine scale volumetric reconstruction based on a memory and speed efficient data structure. Our system uses a simple spatial hashing scheme that compresses space, and allows for real-time access and updates of implicit surface data, without the need for a regular or hierarchical grid data structure. Surface data is only stored densely where measurements are observed. Additionally, data can be streamed efficiently in or out of the hash table, allowing for further scalability during sensor motion. We show interactive reconstructions of a variety of scenes, reconstructing both fine-grained details and large scale environments. We illustrate how all parts of our pipeline from depth map pre-processing, camera pose estimation, depth map fusion, and surface rendering are performed at real-time rates on commodity graphics hardware. We conclude with a comparison to current state-of-the-art online systems, illustrating improved performance and reconstruction quality.

Overview

The claims and statistics of this paper haven’t been checked yet.

Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.

A few free checks a day · papers already verified open instantly · results are public

Integrity signals

Registry

Crossref · 10.1145/2508363.2508374

Cites

Statistics

Verification

Claims the paper makes

The claims and statistics of this paper haven’t been checked yet.

Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.

A few free checks a day · papers already verified open instantly · results are public

Self-check

Percentages, sums and reported differences re-computed from the paper’s own numbers.

The self-check needs the paper’s full text.

Citations

Cites

No references could be resolved yet.

Research works printed but not linked: 43

  1. 10.1145/1618452.1618500 · DOI · Paper page
  2. Amanatides J., 1987, A fast voxel traversal algorithm for ray tracing, Proc. Eurographics, 87, 3
  3. Bastos T., Shape Modeling and Applications, 2008. SMI 2008. IEEE International Conference on, IEEE, 171--178
  4. 10.1109/34.121791 · DOI · Paper page
  5. Chang C., Proc. ICIP 94, 2
  6. 10.1016/0262-8856(92)90066-C · DOI · Paper page
  7. 10.1145/2461912.2461940 · DOI · Paper page
  8. 10.1145/1507149.1507152 · doi:10.1145/1507149.1507152
  9. 10.1145/237170.237269 · DOI · Paper page
  10. Gallup D., 2010, -M
  11. 10.1145/2070781.2024195 · doi:10.1145/2070781.2024195
  12. Gross M. and Pfister H. 2007. Point-based graphics. Morgan Kaufmann. Gross M. and Pfister H. 2007. Point-based graphics . Morgan Kaufmann.
  13. Hadwiger M., 2012, Interactive volume exploration of petascale microscopy data streams using a visualization-driven virtual memory approach. Visualization and Computer Graphics, IEEE Transactions on, 18, 2285
  14. 10.1177/0278364911434148 · DOI · Paper page
  15. 10.1006/gmip.1995.1028 · DOI
  16. Hilton A. Stoddart A. Illingworth J. and Windeatt T. 1996. Reliable surface reconstruction from multiple range images. J. Computer Vision (Proc. ECCV) 117--126. Hilton A. Stoddart A. Illingworth J. and Windeatt T. 1996. Reliable surface reconstruction from multiple range images. J. Computer Vision (Proc. ECCV) 117--126. · DOI · Paper page
  17. 10.1145/142920.134011 · DOI · Paper page
  18. 10.1145/2047196.2047270 · DOI · Paper page
  19. Johnson A. E. and Bing Kang S. 1999. Registration and integration of textured 3d data. Image and vision computing 17 2 135--147. Johnson A. E. and Bing Kang S. 1999. Registration and integration of textured 3d data. Image and vision computing 17 2 135--147. · DOI · Paper page
  20. 10.1145/2461912.2462024 · doi:10.1145/2461912.2462024
  21. Kazhdan M., Proc. EG Symp. Geometry Processing.
  22. 10.1109/3DV.2013.9 · DOI · Paper page
  23. Kraus M., Proc. of the ACM SIGGRAPH/EUROGRAPHICS conference on Graphics hardware, Eurographics Association, 7--15
  24. 10.1109/TVCG.2010.240 · doi:10.1109/tvcg.2010.240
  25. 10.1145/1141911.1141926 · doi:10.1145/1141911.1141926
  26. Lefebvre S. Hornus S. and Neyret F. 2005. Gpu gems 2. chapter 37: Octree textures on the gpu. Lefebvre S. Hornus S. and Neyret F. 2005. Gpu gems 2. chapter 37: Octree textures on the gpu.
  27. 10.1145/344779.344849 · doi:10.1145/344779.344849
  28. 10.1145/37402.37422 · DOI · Paper page
  29. Low K.-L., Linear least-squares optimization for point-to-plane icp surface registration. Tech. rep
  30. 10.1109/ISMAR.2011.6092378 · DOI · Paper page
  31. 10.1109/3DIMPVT.2012.84 · DOI · Paper page
  32. 10.1145/2093973.2094002 · DOI
  33. 10.1007/s11263-007-0086-4 · DOI · Paper page
  34. Roth H., British Machine Vision Conf.
  35. 10.1145/566654.566600 · DOI · Paper page
  36. Stückler J., Proc. of the IEEE Int. Conf. on Multisensor Fusion and Information Integration (MFI)
  37. Teschner M., Proc. of Vision, Modeling, Visualization VMV03
  38. 10.1145/192161.192241 · DOI · Paper page
  39. 10.1109/ICCVW.2009.5457479 · DOI
  40. Wheeler M., Proc. IEEE Int. Conf. Computer Vision, 917--924
  41. 10.1016/j.gmod.2012.09.002 · DOI
  42. 10.1145/2461912.2461919 · DOI · Paper page
  43. 10.1109/TVCG.2010.75 · DOI

Cited by

See all 1,002

Metadata

Authors
Nießner, M., Zollhöfer, M., Izadi, S., & Stamminger, M.
Venue
ACM Transactions on Graphics
Publisher
Association for Computing Machinery (ACM)
Published
2013-11
Volume
32
Issue
6
Pages
1-11
ISSN
  • 0730-0301 (ISSN-L)
  • 1557-7368
DOI
10.1145/2508363.2508374
OpenAlex
W2071906076
Cited by
1,002
References
0
FWCI
44.64
Type
journal article
Language
en
Open access
closed
Licence
www.acm.org/publications/policies/copyright_policy#Background (vor)
Funders
Deutsche Forschungsgemeinschaft (GRK-1773)

About these checks

Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.

Statistics and arithmetic are recomputed, not judged.

Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.

What counts as a claim ›How we measure confidence ›How we check this ›

Are you an author, or do you see a problem with this page? Request a review

How to cite

Cite CoChat for the checks on this page, and the paper for its own findings.

This page
CoChat. (2026). Citation check: Real-time 3D reconstruction at scale using voxel hashing. https://app.cochat.ai/papers/10.1145/2508363.2508374
The paper
Nießner, M., Zollhöfer, M., Izadi, S., & Stamminger, M. (2013). Real-time 3D reconstruction at scale using voxel hashing. ACM Transactions on Graphics. https://doi.org/10.1145/2508363.2508374

Data sources

Bibliographic data: Semantic Scholar, OpenAlex, Crossref.

Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).

Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.