Fast Change Detection by Emanuele Palazzolo and Cyrill Stachniss

Fast Change Detection is available on GitHub

The program allows for identifying, in real-time, changes on a 3D model from a sequence of images. The idea is to first detect inconsistencies between pairs of images by reprojecting an image onto another one by passing through the 3D model. Ambiguities about possible inconsistencies resulting from this process are then resolved by combining multiple images. Finally, the 3D location of the change is estimated by projecting in 3D these inconsistencies.

This code is related to the following publications:
E. Palazzolo and C. Stachniss, “Fast Image-Based Geometric Change Detection Given a 3D Model”, in Proceedings of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2018.