We present a novel approach for the reconstruction of dynamic geometric shapes using a single hand-held consumer-grade RGB-D sensor at real-time rates. Our method builds up the scene model from scratch during the scanning process, thus it does not require a predefined shape template to start with. Geometry and motion are parameterized in a unified manner by a volumetric representation that encodes a distance field of the surface geometry as well as the non-rigid space deformation. Motion tracking is based on a set of extracted sparse color features in combination with a dense depth constraint. This enables accurate tracking and drastically reduces drift inherent to standard model-to-depth alignment. We cast finding the optimal deformation of space as a non-linear regularized variational optimization problem by enforcing local smoothness and proximity to the input constraints. The problem is tackled in real-time at the camera's capture rate using a data-parallel flip-flop optimization strategy. Our results demonstrate robust tracking even for fast motion and scenes that lack geometric features.
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