CanFields: Consolidating 4D Dynamic Shapes from Raw Scans

We introduce Canonical Consolidation Fields (CanFields), a new method for reconstructing a time series of independently captured 3D scans into a single, coherent deforming shape. This 4D representation enables continuous refinement across both space and time. Unlike prior methods that often over-smooth the geometry or produce topological and geometric artifacts, CanFields effectively learns geometry and deformation in an unsupervised way by incorporating two geometric priors. First, we introduce a dynamic consolidator module that adjusts the input and assigns confidence scores, balancing the learning of the canonical shape and its deformations. Second, we use low-frequency velocity fields to guide deformation while preserving fine details in canonical shapes through high-frequency bias. We validate the robustness and accuracy of CanFields on diverse raw scans, demonstrating its superior performance even with missing regions, sparse frames, and noise. Code is available in the supplementary materials and will be released publicly upon acceptance.