Papers › Explicit 3D Change Detection using Ray-Tracing in Spherical Coordinates
Explicit 3D Change Detection using Ray-Tracing in Spherical Coordinates
JP Underwood, D Gillsjö, T Bailey, V Vlaskine
Change detection is important for autonomous perception systems that operate in dynamic environments. Mapping and tracking components commonly handle two ends of the dynamic spectrum: stationarity and rapid motion. This paper presents a fast algorithm for 3D change detection from LIDAR or equivalent optical range sensors, that can operate from arbitrary viewpoints and can detect fast and slow dynamics. Distinct from prior work, the method explicitly detects changes in the world, and suppresses apparent changes in the data due to exploration at frontiers or behind occlusions. Comprehensive experimentation is performed to assess the performance in several application domains. Sample data and source code are provided.
Code
No code repository is listed for this paper in the archive or in Syntology's graph.
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
No leaderboard rows for this paper in the archive.
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