The present disclosure is generally directed to reconstructing representations of bodies from images. An example method of the present disclosure includes inputting, into a machine-learned reconstruction model, input data descriptive of an image depicting a body; predicting, using a machine-learned marker prediction component of the reconstruction model, a set of surface marker locations on the body; and outputting, using a machine-learned marker poser component of the reconstruction model, an output representation of the body that corresponds to the set of surface marker locations. In the example method, one or more parameters of the reconstruction model were learned at least in part based on a consistency loss corresponding to a distance between relaxed-constraint representations generated from a prior set of surface marker locations predicted according to the one or more parameters and parametric representations generated from the prior set using kinematic constraints associated with the body.