Object voxelization by filtering

The authors analyze different filters used for the voxelization of analytically described objects. They show that, when the voxel model is used for visualization, the filter design is related to the subsequent rendering phase, namely the gradient estimation technique. The theoretical and experimental analyses show that, in order to avoid a systematic error in normal estimation, the density profile near the surface should be linearly proportional to the distance from the surface. Optimal thickness of this transient region has been estimated to be about 3 voxel units. Based on these results, they propose a technique for voxelization of arbitrary parametric surfaces, using a hierarchical subdivision of the 2D surface domain.