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Consumer RGBD sensors are becoming ubiquitous and can be found in many devices such as laptops (e.g., Intel’s RealSense) or tablets (e.g., Google Tango, Structure, etc.). They have become popular in graphics, vision, and HCI communities as they enable numerous applications such as 3D capture, gesture recognition, virtual fitting, etc. Nowadays, common sensors can deliver a stream of color images and depth maps in VGA resolution at 30 fps. While the color image is usually of sufficient quality for visualization, depth information (represented as a point cloud) is usually too sparse and noisy for readable rendering.