  We present an end-to-end system for reconstructing complete watertight and
textured models of moving subjects such as clothed humans and animals, using
only three or four handheld sensors. The heart of our framework is a new
pairwise registration algorithm that minimizes, using a particle swarm
strategy, an alignment error metric based on mutual visibility and occlusion.
We show that this algorithm reliably registers partial scans with as little as
15% overlap without requiring any initial correspondences, and outperforms
alternative global registration algorithms. This registration algorithm allows
us to reconstruct moving subjects from free-viewpoint video produced by
consumer-grade sensors, without extensive sensor calibration, constrained
capture volume, expensive arrays of cameras, or templates of the subject
geometry.
