Real-time 3D Reconstruction at Scale using Voxel Hashing1 Technical University of Munich 2 Max Planck Institute for Informatics 3 Microsoft Research 4 University of Erlangen-Nuremberg 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
