Back projection voting considering the error of camera orientation

We propose a method of three dimensional reconstruction using the back projection voting considering the error of the camera orientation. On the back projection voting of several images taken by the manipulated camera with the orientation error, we compensate the error of the first voting. The error compensation is calculated with variances in each voxels of the first voting with the larger voxel size. And the second voting with the compensated camera orientation to smaller voxels reduces the error of three dimensional reconstruction results. In this paper, the basic idea of the proposed method is presented