{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T22:33:07Z","timestamp":1780525987287,"version":"3.54.1"},"reference-count":46,"publisher":"Association for Computing Machinery (ACM)","issue":"6","license":[{"start":{"date-parts":[[2013,11,1]],"date-time":"2013-11-01T00:00:00Z","timestamp":1383264000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/501100001659","name":"Deutsche Forschungsgemeinschaft","doi-asserted-by":"publisher","award":["GRK-1773"],"award-info":[{"award-number":["GRK-1773"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Graph."],"published-print":{"date-parts":[[2013,11]]},"abstract":"<jats:p>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.<\/jats:p>","DOI":"10.1145\/2508363.2508374","type":"journal-article","created":{"date-parts":[[2013,11,6]],"date-time":"2013-11-06T14:09:19Z","timestamp":1383746959000},"page":"1-11","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":657,"title":["Real-time 3D reconstruction at scale using voxel hashing"],"prefix":"10.1145","volume":"32","author":[{"given":"Matthias","family":"Nie\u00dfner","sequence":"first","affiliation":[{"name":"University of Erlangen-Nuremberg and Stanford University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Michael","family":"Zollh\u00f6fer","sequence":"additional","affiliation":[{"name":"University of Erlangen-Nuremberg"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shahram","family":"Izadi","sequence":"additional","affiliation":[{"name":"Microsoft Research Cambridge"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Marc","family":"Stamminger","sequence":"additional","affiliation":[{"name":"University of Erlangen-Nuremberg"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2013,11]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/1618452.1618500"},{"key":"e_1_2_2_2_1","first-page":"3","article-title":"A fast voxel traversal algorithm for ray tracing","volume":"87","author":"Amanatides J.","year":"1987","journal-title":"Proc. Eurographics"},{"key":"e_1_2_2_3_1","volume-title":"Shape Modeling and Applications, 2008. SMI 2008. IEEE International Conference on, IEEE, 171--178","author":"Bastos T."},{"key":"e_1_2_2_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/34.121791"},{"key":"e_1_2_2_5_1","volume-title":"Proc. ICIP 94","volume":"2","author":"Chang C."},{"key":"e_1_2_2_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/0262-8856(92)90066-C"},{"key":"e_1_2_2_7_1","doi-asserted-by":"publisher","DOI":"10.1145\/2461912.2461940"},{"key":"e_1_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1145\/1507149.1507152"},{"key":"e_1_2_2_9_1","doi-asserted-by":"publisher","DOI":"10.1145\/237170.237269"},{"key":"e_1_2_2_10_1","volume-title":"-M","author":"Gallup D.","year":"2010"},{"key":"e_1_2_2_11_1","doi-asserted-by":"publisher","DOI":"10.1145\/2070781.2024195"},{"key":"e_1_2_2_12_1","unstructured":"Gross M. and Pfister H. 2007. Point-based graphics. Morgan Kaufmann.   Gross M. and Pfister H. 2007. Point-based graphics . Morgan Kaufmann."},{"key":"e_1_2_2_13_1","first-page":"2285","article-title":"Interactive volume exploration of petascale microscopy data streams using a visualization-driven virtual memory approach. Visualization and Computer Graphics","volume":"18","author":"Hadwiger M.","year":"2012","journal-title":"IEEE Transactions on"},{"key":"e_1_2_2_14_1","unstructured":"Harris M. Sengupta S. and Owens J. D. 2007. Parallel prefix sum (scan) with cuda. GPU gems 3 39 851--876.  Harris M. Sengupta S. and Owens J. D. 2007. Parallel prefix sum (scan) with cuda. GPU gems 3 39 851--876."},{"key":"e_1_2_2_15_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911434148"},{"key":"e_1_2_2_16_1","doi-asserted-by":"publisher","DOI":"10.1006\/gmip.1995.1028"},{"key":"e_1_2_2_17_1","doi-asserted-by":"crossref","unstructured":"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":"10.1007\/BFb0015528"},{"key":"e_1_2_2_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/142920.134011"},{"key":"e_1_2_2_19_1","doi-asserted-by":"publisher","DOI":"10.1145\/2047196.2047270"},{"key":"e_1_2_2_20_1","doi-asserted-by":"crossref","unstructured":"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":"10.1016\/S0262-8856(98)00117-6"},{"key":"e_1_2_2_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/2461912.2462024"},{"key":"e_1_2_2_22_1","volume-title":"Proc. EG Symp. Geometry Processing.","author":"Kazhdan M."},{"key":"e_1_2_2_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/3DV.2013.9"},{"key":"e_1_2_2_24_1","volume-title":"Proc. of the ACM SIGGRAPH\/EUROGRAPHICS conference on Graphics hardware, Eurographics Association, 7--15","author":"Kraus M."},{"key":"e_1_2_2_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2010.240"},{"key":"e_1_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1145\/1141911.1141926"},{"key":"e_1_2_2_27_1","unstructured":"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."},{"key":"e_1_2_2_28_1","doi-asserted-by":"publisher","DOI":"10.1145\/344779.344849"},{"key":"e_1_2_2_29_1","doi-asserted-by":"publisher","DOI":"10.1145\/37402.37422"},{"key":"e_1_2_2_30_1","volume-title":"Linear least-squares optimization for point-to-plane icp surface registration. Tech. rep","author":"Low K.-L."},{"key":"e_1_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2011.6092378"},{"key":"e_1_2_2_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/3DIMPVT.2012.84"},{"key":"e_1_2_2_33_1","doi-asserted-by":"publisher","DOI":"10.1145\/2093973.2094002"},{"key":"e_1_2_2_34_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-007-0086-4"},{"key":"e_1_2_2_35_1","unstructured":"Reichl F. Chajdas M. G. B\u00fcrger K. and Westermann R. 2012. Hybrid sample-based surface rendering. In Vision Modeling & Visualization The Eurographics Association 47--54.  Reichl F. Chajdas M. G. B\u00fcrger K. and Westermann R. 2012. Hybrid sample-based surface rendering. In Vision Modeling & Visualization The Eurographics Association 47--54."},{"key":"e_1_2_2_36_1","volume-title":"British Machine Vision Conf.","author":"Roth H."},{"key":"e_1_2_2_37_1","doi-asserted-by":"publisher","DOI":"10.1145\/566654.566600"},{"key":"e_1_2_2_38_1","volume-title":"Proc. of the IEEE Int. Conf. on Multisensor Fusion and Information Integration (MFI)","author":"St\u00fcckler J."},{"key":"e_1_2_2_39_1","volume-title":"Proc. of Vision, Modeling, Visualization VMV03","author":"Teschner M."},{"key":"e_1_2_2_40_1","doi-asserted-by":"publisher","DOI":"10.1145\/192161.192241"},{"key":"e_1_2_2_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCVW.2009.5457479"},{"key":"e_1_2_2_42_1","volume-title":"Proc. IEEE Int. Conf. Computer Vision, 917--924","author":"Wheeler M."},{"key":"e_1_2_2_43_1","unstructured":"Whelan T. Johannsson H. Kaess M. Leonard J. and McDonald J. 2012. Robust tracking for real-time dense rgb-d mapping with kintinuous. Tech. rep. Query date: 2012-10-25.  Whelan T. Johannsson H. Kaess M. Leonard J. and McDonald J. 2012. Robust tracking for real-time dense rgb-d mapping with kintinuous. Tech. rep. Query date: 2012-10-25."},{"key":"e_1_2_2_44_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.gmod.2012.09.002"},{"key":"e_1_2_2_45_1","doi-asserted-by":"publisher","DOI":"10.1145\/2461912.2461919"},{"key":"e_1_2_2_46_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2010.75"}],"container-title":["ACM Transactions on Graphics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2508363.2508374","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/2508363.2508374","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T07:28:38Z","timestamp":1750231718000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2508363.2508374"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,11]]},"references-count":46,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2013,11]]}},"alternative-id":["10.1145\/2508363.2508374"],"URL":"https:\/\/doi.org\/10.1145\/2508363.2508374","relation":{},"ISSN":["0730-0301","1557-7368"],"issn-type":[{"value":"0730-0301","type":"print"},{"value":"1557-7368","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,11]]},"assertion":[{"value":"2013-11-01","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}