Exploiting Visibility Information in Surface Reconstruction to Preserve Weakly Supported Surfaces
Figure 1
Occluder reveals itself through occlusion. Three sensors with centers A, B, and C, shown as blue, red, and green wedges, observe an L-shaped (black) object. Each ray from a sensor center to a reconstructed point indicates that the space along the line segment is free. See the text for a more detailed explanation.