As long as the voxels are weighted by some sort of confidence value, generating a high quality 3D model based upon a dozen or so goodish quality models is a tri

As long as the voxels are weighted by some sort of confidence value, generating a high quality 3D model based upon a dozen or so goodish quality models is a trivial fitting task. The problem with the multi-perspective approaches are: to do it well you need lasers and extremely stable AND perfectly localized observation points, making it slow, expensive and fragile for robotic applications, OR the image-to-model component of it is a grotesque anti-physics artifact hallucination which reinforces entropy as much as it does valid data leading to shitty models. Essentially, this single image to 3D step is the key to both forms.