SOURCE-LINKED INTELLIGENCE
Online Geometric Change Detection via Scene Decomposition
Autonomous robots are increasingly deployed on long duration single- and multi-session missions in dynamic environments, where the ability to identify environmental changes such as fallen trees or opened doors provides important contextual information for online planning. We propose a framework called Change Detection via Scene Decomposition (CDSD) for accurate online geometric change detection using LiDAR or RGB-D sensors. Recent advances in geometric SLAM have made it possible to generate dense, tightly aligned maps without post processing, but comparing global maps across entire sessions is
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-15T15:10:54.000Z
First collected: 2026-09-20T08:40:59.508Z. This is not the publication date.