plete qualitative results.

Table 6. Table of notations.

Symbol

Description

t
b
i

x
Xt
X∗
ˆX∗

Frame index, t ∈ {1, . . . , T}
Bone index b ∈ {1, . . . , B} in neural blend skinning
Point index b ∈ {1, . . . , N} in volume rendering

Index

Points

Pixel coordinate x = (x,y)
3D point locations in the frame t camera coordinate
3D point locations in the canonical coordinate
Matched canonical 3D point locations via canonical embedding

c ∈ R3
σ ∈ R
ψ ∈ R16
W ∈ RB

Property of 3D points

Color of a 3D point
Density of a 3D point
Canonical embedding of a 3D point
Skinning weights of assigning a 3D point to B bones

Functions on 3D points
W t,←(Xt) Backward warping function from Xt to X∗
W t,→(X∗)
Forward warping function from X∗ to Xt
S(X, ωb)
Skinning function that computes skinning weights of X under body pose ωb

Rendered and Observed Images

c/ˆc
o/ˆs
F/ ˆF

Rendered/observed RGB image
Rendered/observed object silhouette image
Rendered/observed optical flow image
BANMo- Building Animatable 3D Neural Models from Many Casual Videos