In order to relieve the drift phenomenon in dynamic non-rigid online reconstruction

an on-line fusion strategy for dense deformation field based on a single RGB-D sensor is proposed

realizing the dynamic reconstruction for non-rigid geometries. By local smoothing and input constraint strategy

the optimal deformation problem is transformed into nonlinear regular variational optimization problem. We use the data parallel flash optimization strategy to achieve on-line tracking of non-rigid scene in camera tracking rate. Experiments show that the proposed method achieves robust tracking of non-rigid scenes

which reduces drift in the process of online reconstruction

this algorithm is suitable for fast moving scene as well as the object lack of geometric features.