Efficient Volumetric Reconstruction with Depth Sensors

A method for real-time volumetric 3-D reconstruction of an object uses at least one depth sensor camera. In a preparation step, voxels are collected in a reconstructed scene depending on a new depth map frame, and the collected voxels are cached in order to perform an update of the reconstructed scene. In an integration step, the collected and cached voxels of the preparation step are updated with a newly captured depth map frame. However, the preparation step, and the integration step are separated from each other so that both steps can be carried out in parallel, and at the same time.