Early results from learning by coloring

One original (rectified) image from 20 stereoscopic pairs of an office scene

Corresponding view of derived 3D grid map
Cell colors are mean of colors projected from images

High-angle view of 3D grid map

If you have a high-capacity Open Inventor or VRML1 viewer,
you may wish to examine the scene above in 3D, with cells rendered
as fast fat dots or nice slow cubes. Both are 300K gzipped .iv files.