can introduce visual artifacts as is illustrated in Figure \[fig:visual\_artifacts\].

While the proposed pipeline is able to interactively generate and visualize VSS, in our current implementation, there is still room for improvement. For example, the detection of contours and their hierarchical classification could also be parallelized on the GPU, which, we believe, will even further increase the performance of VSS.

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  ----------- ----- ----- ---- ----- ---- ---- ---- ---- ----
                                                         
                                                         
  Step size     1     3    5     1    3    5    1    3    5
  ms           165   114   60   105   69   47   64   40   25
  ----------- ----- ----- ---- ----- ---- ---- ---- ---- ----

  :  In this table, the milliseconds required to generate and render the VSSs are presented. These values were computed for three different camera configurations: *Far*, in which the object does not intersect with the borders of the screen; *Medium*, in which the object intersect in a few places with the screen borders; and *Close*, a close-up view in which the object intersects at several places with the screen borders. Moreover, different step sizes were considered during the interpolation of the VSS’s depth values. Lastly, we provide in parenthesis the number of independent empty areas of 