Noise-free differentiable ray casting

A system, comprising:

• processor configured to:
• cast rays that are each defined by a corresponding 3D origin and direction into a 3D model defined by parameters, wherein at least two rays are cast into the 3D model from each 3D origin to determine model visibility data including at least one anti-aliased coverage value associated with a primitive of the 3D model that is intersected by one of the at least two rays;
• receive reference visibility data comprising an image of a reference 3D scene;
• and
• update at least one of the parameters of the 3D model using computed coverage differences represented by visibility gradients to reduce differences between the model visibility data and the reference visibility data.

A non-transitory computer-readable media storing computer instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of:

• casting rays that are each defined by a corresponding 3D origin and direction into a 3D model defined by parameters, wherein at least two rays are cast into the 3D model from each 3D origin to determine model visibility data including at least one anti-aliased coverage value associated with a primitive of the 3D model that is intersected by one of the at least two rays;
• receiving reference visibility data comprising an image of a reference 3D scene;
• and
• updating at least one of the parameters of the 3D model using computed coverage differences represented by visibility gradients to reduce differences between the model visibility data and the reference visibility data.