PlaneSDF-based Change Detection for Long-term Dense Mapping

no code implementations • 18 Jul 2022 • Jiahui Fu, Chengyuan Lin, Yuichi Taguchi, Andrea Cohen, Yifu Zhang, Stephen Mylabathula, John J. Leonard

Given point clouds of the source and target scenes, we propose a three-step PlaneSDF-based change detection approach: (1) PlaneSDF volumes are instantiated within each scene and registered across scenes using plane poses; 2D height maps and object maps are extracted per volume via height projection and connected component analysis.

Change Detection Object +2