An exemplary volumetric reconstruction system accesses first and second color and depth data captured for a surface point on a surface of an object in a real-world capture space. The first color and depth data is captured by a first capture device positioned to have a first vantage point of the surface of the object, while the second color and depth data is captured for the surface point by a second capture device positioned to have a second vantage point of the surface of the object. Based on the first and second color and depth data, the volumetric reconstruction system determines a confidence field value for a voxel node corresponding to the surface point, and, based on that confidence field value, generates reconstructed color and depth data for a volumetric reconstruction of the surface of the object. Corresponding methods and systems are also disclosed.