{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/explicit-3d-change-detection-using-ray","title":"Explicit 3D Change Detection using Ray-Tracing in Spherical Coordinates","arxiv_id":null,"date":"2013-05-01","proceeding":null,"authors":["JP Underwood","D Gillsjö","T Bailey","V Vlaskine"],"abstract":"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. \r\nDistinct 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.","url_abs":"https://ieeexplore.ieee.org/document/6631251","url_pdf":"http://www.acfr.usyd.edu.au/papers/pdfs/Underwood-ICRA13-ChangeDetection.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[],"tasks":[{"task_slug":"change-detection","task_name":"Change Detection"}],"methods":[],"datasets_introduced":[{"slug":"explicit-3d-change-detection-using-ray","name":"EXPLICIT 3D CHANGE DETECTION USING RAY-TRACING IN SPHERICAL COORDINATES","full_name":""}],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}