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We present the first real-time system capable of tracking and reconstructing,individually, every visible object in a given scene, without any form of prioron the rigidness of the objects, texture existence, or object category. Incontrast with previous methods such as Co-Fusion and MaskFusion that firstsegment the scene into individual objects and then process each objectindependently, the proposed method dynamically segments the non-rigid scene aspart of the tracking and reconstruction process. When new measurements indicatetopology change, reconstructed models are updated in real-time to reflect thatchange. Our proposed system can provide the live geometry and deformation ofall visible objects in a novel scene in real-time, which makes it possible tobe integrated seamlessly into numerous existing robotics applications that relyon object models for grasping and manipulation. The capabilities of theproposed system are demonstrated in challenging scenes that contain multiplerigid and non-rigid objects.

Scene-level Tracking and Reconstruction without Object Priors