{"paper":{"title":"SurfelWarp: Efficient Non-Volumetric Single View Dynamic Reconstruction","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Russ Tedrake, Wei Gao","submitted_at":"2019-04-30T06:57:53Z","abstract_excerpt":"We contribute a dense SLAM system that takes a live stream of depth images as input and reconstructs non-rigid deforming scenes in real time, without templates or prior models. In contrast to existing approaches, we do not maintain any volumetric data structures, such as truncated signed distance function (TSDF) fields or deformation fields, which are performance and memory intensive. Our system works with a flat point (surfel) based representation of geometry, which can be directly acquired from commodity depth sensors. Standard graphics pipelines and general purpose GPU (GPGPU) computing are"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.13073","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}