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There have been significant advancements in dynamic novel view synthesis in recent years. However, current deep learning models often require (1) prior models (e.g., SMPL human models), (2) heavy pre-processing, or (3) per-scene optimization. We propose to utilize RGBD cameras to remove these limitations and synthesize free-viewpoint videos of dynamic indoor scenes. We generate feature point clouds from RGBD frames and then render them into free-viewpoint videos via a neural renderer. However, the inaccurate, unstable, and incomplete depth measurements induce severe distortions, flickering, and ghosting artifacts. We enforce spatial-temporal consistency via the proposed Cycle Reconstruction Consistency and Temporal Stabilization module to reduce these artifacts. We introduce a simple Regional Depth-Inpainting module that adaptively inpaints missing depth values to render complete novel views. Additionally, we present a Human-Things Interactions dataset to validate our approach and facilitate future research. The dataset consists of 43 multi-view RGBD video sequences of everyday activities, capturing complex interactions between human subjects and their surroundings. Experiments on the HTI dataset show that our method outperforms the baseline per-frame image fidelity and spatial-temporal consistency. We will release our code, and the dataset on the website soon.