Algorithm 1.

Construct Voxel-Bounding Box

Input : M(t) − n-frame voxel model

Output : B′(t) − n-frame modified-bounding box

1: for Mi ∈ M(t) do

2: Set the probability of each voxel in Mi to 1

3: Calculate the length, width, and height of the bounding box of Mi as: LMi ∈ L, WMi ∈ W, HMi ∈ H

4: end for

5: Search for the maximum value of length, width and height respectively as Lmax, Wmax, Hmax, to form a template-bounding box B

6: Divide B into space units that decided by the resolution of each voxel

7: for Mi ∈ M(t) do

8: Compare the template-bounding box B and Mi to obtain their intersections. In template-bounding box B, set the probability of the intersection voxels to 1 and set those of the rest voxels in to 0, to obtain the modified bounding box Bi′

9: end for