In May 1963 computer scientist Lawrence G. Roberts published Machine Perception of Three Dimensional Solids, MIT Lincoln Laboratory Report, TR 315, May 1963. This contained "the first algorithm to eliminate hidden or obscured surfaces from a perspective picture" (Carlson, Computer Graphics and Computer Animation: A Retrospective Overview). In September 2020 Carlson's book was available as a free down load from Ohiostate.pressnbooks.pub/graphichistory#main
In 1965, Roberts implemented a homogeneous coordinate scheme for transformations and perspective, publishing Homogenous Matrix Representation and Manipulation of N-Dimensional Constructs, MIT MS-1505. Roberts's "solutions to these problems prompted attempts over the next decade to find faster algorithms for generating hidden surfaces" (Carlson, op. cit.).