Papers › ChangeSim: Towards End-to-End Online Scene Change Detection in Industrial Indoor Environments
ChangeSim: Towards End-to-End Online Scene Change Detection in Industrial Indoor Environments
Jin-Man Park, Jae-Hyuk Jang, Sahng-Min Yoo, Sun-Kyung Lee, Ue-Hwan Kim, Jong-Hwan Kim
We present a challenging dataset, ChangeSim, aimed at online scene change detection (SCD) and more. The data is collected in photo-realistic simulation environments with the presence of environmental non-targeted variations, such as air turbidity and light condition changes, as well as targeted object changes in industrial indoor environments. By collecting data in simulations, multi-modal sensor data and precise ground truth labels are obtainable such as the RGB image, depth image, semantic segmentation, change segmentation, camera poses, and 3D reconstructions. While the previous online SCD datasets evaluate models given well-aligned image pairs, ChangeSim also provides raw unpaired sequences that present an opportunity to develop an online SCD model in an end-to-end manner, considering both pairing and detection. Experiments show that even the latest pair-based SCD models suffer from the bottleneck of the pairing process, and it gets worse when the environment contains the non-targeted variations. Our dataset is available at http://sammica.github.io/ChangeSim/.
In Syntology Open this paper in Syntology's Atlas, the map of the papers in Syntology's graph and their citations.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Tasks
Datasets
Introduced by this paper, per the archive.
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| Scene Change Detection | ChangeSim | RTABMAP+CSCDNet | Category mIoU | 26.1 | #2 of 3 | Archive leaderboard | report |
| Scene Change Detection | ChangeSim | RTABMAP+CSCDNet | macro F1 | 30.6 | #2 of 3 | Archive leaderboard | report |
| Scene Change Detection | ChangeSim | RTABMAP+ChangeNet | Category mIoU | 23.0 | #3 of 3 | Archive leaderboard | report |
| Scene Change Detection | ChangeSim | RTABMAP+ChangeNet | macro F1 | 29.8 | #3 of 3 | Archive leaderboard | report |
Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections