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First, instead of generating a texture map for each timestamp to color a dynamic scene, our framework reconstructs a global texture atlas that can be consistently mapped to a deforming object. Second, our approach is based on a single RGB\u2010D camera, without the need of a multiple\u2010camera setup surrounding a scene. In our framework, the input is a 3D template model with an RGB\u2010D image sequence, and geometric warping fields are found using a state\u2010of\u2010the\u2010art non\u2010rigid registration method [GXW*15] to align the template mesh to noisy and incomplete input depth images. With these warping fields, our multi\u2010scale approach for texture coordinate optimization generates a sharp and clear texture atlas that is consistent with multiple color observations over time. Our approach is accelerated by graphical hardware and provides a handy configuration to capture a dynamic geometry along with a clean texture atlas. 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