A method for real-time dynamic 4D reconstruction can include detecting one or more topology changes between reconstructed frames and a new incoming frame by detecting a set of discontinuities in a first surface mesh associated with the reconstructed frames; duplicating cells of a first volumetric cell structure associated with the reconstructed frames at the set of discontinuities to generate a set of nodes, the set of nodes having a non-manifold connectivity; and fusing a depth image of the new incoming frame with the first volumetric cell structure having the set of nodes to form a next volumetric cell structure with the non-manifold connectivity. A next surface mesh extracted from the next volumetric cell structure can then be output for rendering a live frame.