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The problem of geometry reconstruction is challenging and the diversity in scenes asks for solid solutions. The literature on geometry reconstruction is comprehensive and many approaches have been tried, with varying degrees of success. Most approaches are based on some form of photo-consistency, that is, they rely ondirectlyobserving all objects that are being reconstructed. However, this casts constraints on the surface properties of the objects. Surfaces often need to be either uniformly coloured (low-textured) and well differentiable from the background, or they need to have clear and rich textures and Lambertian-like properties. In practice, these constraints are not always met. Therefore, many algorithms fail on certain kinds of objects.
_We propose a new approach based on_indirectly_observing objects using visibility
