  Topology change is a challenging problem for 4D reconstruction of dynamic
scenes. In the classic volumetric fusion-based framework, a mesh is usually
extracted from the TSDF volume as the canonical surface representation to help
estimating deformation field. However, the surface and Embedded Deformation
Graph (EDG) representations bring conflicts under topology changes since the
surface mesh has fixed-connectivity but the deformation field can be
discontinuous. In this paper, the classic framework is re-designed to enable 4D
reconstruction of dynamic scene under topology changes, by introducing a novel
structure of Non-manifold Volumetric Grid to the re-design of both TSDF and
EDG, which allows connectivity updates by cell splitting and replication.
Experiments show convincing reconstruction results for dynamic scenes of
topology changes, as compared to the state-of-the-art methods.
