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Normally you'd run binvox on your own PC, where it will use your installed graphics card (unless you are using the “exact voxelization” method).
To run binvox on a headless server instead, either:
yum install xorg-x11-server-Xvfb), then start a virtual screen:
Xvfb :99 -screen 0 640x480x24 & setenv DISPLAY :99 (or, if you're running bash, do: export DISPLAY=:99)
After this you can run binvox.
(thanks to @vineet7kumar for figuring this out)