Viewpoint dependent brick selection for fast volumetric reconstruction

The method of 1, wherein:

• the depth image corresponds to a camera frustum, the camera frustum being in the shape of a 3D trapezoidal prism;
• the method comprises culling a portion of the plurality of bricks against the camera frustum so as to produce a reduced set of bricks before conducting the first acceptance test;
• and
• the first acceptance test is conducted against the reduced set of bricks.

The method of 13, wherein culling a portion of the plurality of bricks against the camera frustum comprises:

• finding a cubic axis-aligned bounding box (AABB) to contain the trapezoidal prism;
• conducting a third acceptance test, wherein the third acceptance test comprises:
• dividing the AABB into a plurality of sub-AABBs,
• determining each of the plurality of sub-AABBs intersects with the trapezoidal prism, and
• rejecting bricks corresponding to a sub-AABB as outside the camera frustum when the sub-AABB is determined as not intersecting the camera frustum;
• and
• repeating the third acceptance test until a sub-AABB corresponds to only one brick.

A computing device configured to generate a three-dimensional (3D) reconstruction of a portion of a scene, the computing device comprising:

• a support member;
• a depth sensor coupled to the support member;
• an image sensor coupled to the support member;
• a central processing unit (CPU) coupled to receive a depth image from the depth sensor and a visual image from the image sensor;
• and
• at least one non-transitory computer-readable medium comprising computer-executable instructions configured for execution on the CPU that, when executed by the CPU, perform a method comprising:
• capturing a depth image from the depth sensor, the depth image comprising a representation of regions within the scene adjacent surfaces;
• selecting bricks representing portions of the scene based at least in part on an intersection between the bricks and the depth image;
• and
• computing a 3D representation based on portions of the visual image corresponding the selected bricks.