The infrastruct fabrication and imaging technique described herein uses digital fabrication techniques to embed information inside objects and THz imaging to later decode this information. Information is encoded in a digital model to create structured transitions between materials. Digital fabrication is used to precisely manufacture the digital model with material transitions enclosed internally. A THz Time-Domain Spectroscopy (TDS) system is used to create a volumetric image of the object interior. The volumetric image is processed to decode the embedded structures into meaningful information.