Abstract: This paper presents an efficient algorithm for the voxelization of solid objects represented by boundary surfaces of arbitrary topology. The algorithm is based on the use of depth buffers and is suitable for polygonal meshes and parametric surfaces. The presented method unifies and extends our previous approaches under a single general algorithm; three practical variants are then given that implement it on different generations of graphics hardware in order to achieve high performance. The implementations for older hardware impose certain limitations on the depth complexity of the object.