A compression scheme for calibrated images depicting a static scene from arbitrary viewpoints is presented. 3D scene geometry is reconstructed, and view-dependent texture maps are generated from all images. Texture is wavelet-coded using the SPIHT coding scheme extended to 4D, exploiting correlations within as well as between texture maps. During decoding, all texture maps are simultaneously and progressively reconstructed. The coder provides 3D scene geometry and multiple texture maps, enabling the use of graphics hardware to accelerate the rendering process. Three image sets acquired from real-world objects are used to evaluate the model-based coding scheme. Coding efficiency is shown for geometry approximations of different accuracy.