“I had already done a life sentence in my head,” he said, explaining: “I carried the guilt of thinking it was my fault… I felt like I had killed my own brother.”

Opening up about what happened to him was “freeing” he said, as he turned his life to art, something he has loved doing from a young age.

Mr Walters said: “The piece of art that I have made for this show is two circles and the work itself is made from things that people discard and throw away, such as greetings cards. I like to take things that people discard and make them beautiful so that they want them back, which is a reflection of my life.”

The two vibrant circles are incredibly powerful, hearing the artist’s story and seeing the work in the flesh was extraordinarily moving.

The exhibition comprises three parts. The first, titled Invisible Words, was curated by Wendy Abrams, Co-founder and CEO of Eleven Eleven Foundation, and features a collection of signs created by people experiencing homelessness worldwide.

The hand-drawn signs capture a range of emotions from desperation and shame to humour and resilience.

Part two is titled Reframed, where artists were invited to create works reflecting their own or others’ experiences of homelessness.

David Tovey’s sculpture, Home 2013, saw him transform a replica Peageot 206 car that he had lived in into a hand-welded sculpture of a house.

The large sculpture symbolises David’s conflicting emotions, a deep appreciation for his car that provided a roof over his head, and the anger and sadness about his situation.

Other eminent artists include Rankin, Sam D’Cruze and Simone Brewster.

Open Doors is the final section, which showcases artwork created by children and young people from the six Homewards locations.

To create the doors, a series of art workshops were held across Aberdeen; Bournemouth, Christchurch and Poole; Lambeth; Newport; Northern Ireland; and Sheffield, to engage and educate children and young people on the topic of homelessness.

Speaking about the exhibition, Ms Abrams said: “Homelessness is a heart-wrenching and complicated problem. Art has the power to make you think, this exhibit was put together to do just that. The exhibition is intended to be an ‘exercise in empathy’, allowing visitors to see things they didn’t see before, or to see them through a different lens.”

‘Homelessness: Reframed’ will open at Saatchi Gallery on Wednesday 7th August and run for six weeks until Friday 20th September.