I used this technique commercially (about 5 years ago) to build voxel representations of the world in real-time from lidar data (Velodyne VLP-32C).

Each lidar return (a 3D point) provides a line of empty voxels from the lidar origin to the location where the laser hit a surface. Because you know the light followed that line uninterrupted, you know all the voxels on the line are empty.

The lidar is giving you thousands of points per second and the lines (derived from the points) carve the voxel space. The voxel space is rendered continuously. It's very satisfying to watch the space being carved out.

I don't know of anyone else using this technique before me, and I don't know of anyone doing it now.