A histogram-based color consistency test for voxel coloring

Voxel coloring has become a popular technique for reconstructing a 3D scene from a set of 2D images. While many different variants of this technique exist, all rely on a test to determine if each voxel is projecting to regions of consistent color in all views of that voxel. A number of color consistency tests can be used and the specific choice has a large influence on the quality of the reconstruction. Earlier work has used variance or the L₁ norm. We propose a new form of consistency test based on histograms that: is more robust at reconstructing textured surfaces, 2) deals properly with RGB color information, and 3) does not require fine tuning of parameters.