Abstract: Applications such as shape matching, visibility processing, rapid manufacturing, and 360 degree display usually require the generation of a voxel representation from a triangle mesh interactively or in real-time. In this paper, we describe a novel framework that uses the hardware tessellation support on the graphics processing unit (GPU) for surface voxelization. To generate gap-free voxelization results with superior performance, our framework uses three stages: triangle subdivision, point generation, and point injection. For even higher temporal efficiency we introduce PN-triangles and displacement mapping to voxelize meshes with rugged surfaces in high resolution. Our framework can be implemented with simple shader programming, making it readily applicable to a number of real-time applications where both development and runtime efficiencies are of concern.