Topology change is a challenging problem for 4D reconstruction of dynamic scenes. In the classic volumetric fusion-based framework, a mesh is usually extracted from the TSDF volume as the canonical surface representation to help estimating deformation field. However, the surface and Embedded Deformation Graph (EDG) representations bring conflicts under topology changes since the surface mesh has fixed-connectivity but the deformation field can be discontinuous. In this paper, the classic framework is re-designed to enable 4D reconstruction of dynamic scene under topology changes, by introducing a novel structure of Non-manifold Volumetric Grid to the re-design of both TSDF and EDG, which allows connectivity updates by cell splitting and replication. Experiments show convincing reconstruction results for dynamic scenes of topology changes, as compared to the state-of-the-art methods.

中文翻译：

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用于动态场景重建的拓扑变化感知体积融合

拓扑变化是动态场景 4D 重建的一个具有挑战性的问题。在经典的基于体积融合的框架中，通常从 TSDF 体积中提取网格作为规范表面表示，以帮助估计变形场。然而，表面和嵌入式变形图 (EDG) 表示在拓扑变化下会带来冲突，因为表面网格具有固定连接性，但变形场可能是不连续的。在本文中，通过在 TSDF 和 EDG 的重新设计中引入非流形体积网格的新结构，重新设计经典框架以实现拓扑变化下动态场景的 4D 重建，允许按单元进行连接更新分裂和复制。实验显示了令人信服的拓扑变化动态场景的重建结果，