Fusion4D: Real-time Performance Capture of Challenging Scenes Mingsong Dou, Sameh Khamis, Yury Degtyarev, Philip Davidson*, Sean Ryan Fanello*, Adarsh Kowdle*, Sergio Orts Escolano*, Christoph Rhemann*, David Kim, Jonathan Taylor, Pushmeet Kohli, Vladimir Tankovich, Shahram Izadi