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We demonstrate the use of shape-from-shading (SfS) to improve both thequality and the robustness of 3D reconstruction of dynamic objects captured bya single camera. Unlike previous approaches that made use of SfS as apost-processing step, we offer a principled integrated approach that solvesdynamic object tracking and reconstruction and SfS as a single unified costfunction. Moving beyond Lambertian S f S , we propose a general approach thatmodels both specularities and shading while simultaneously tracking andreconstructing general dynamic objects. Solving these problems jointly preventsthe kinds of tracking failures which can not be recovered from by pipelineapproaches. We show state-of-the-art results both qualitatively andquantitatively.

Better Together: Joint Reasoning for Non-rigid 3D Reconstruction with Specularities and Shading