Hierarchical Voxel block hashing for effiecient integration of depth images

The main contribution of this article is to use the hash table to realize hierarchical voxel block without the eight-fork tree. Start by dividing the scene into a coarse voxel block (8x8x8 voxel), then calculate the 3D coordinates of the camera view for the pixels in the new depth map, then use equation 2 to line up the Voxel block that the line passed, and then update all Voxel The value of the Voxel tsdf inside the block

After calculating the value of the TSDF, use the formula (5) to decide whether each voxel block should be divided or not, and then change the hash structure, (I am not sure here, I need not to re-change the depth of the current frame to calculate TSDF), and then process the next frame.

There was no closer scrutiny.