SCD4VPR: Multi-modal Scene Change Detection for Long-term Visual Place Recognition Database Update
Long-term autonomy in mobile robotics requires maps that remain accurate as environments change over time. Visual Place Recognition (VPR), a core localization capability, degrades sharply as the temporal gap between query and database images grows, particularly across seasonal transitions. Scene Change Detection (SCD) offers a principled mechanism for database maintenance, but existing methods rely on binary, uni-modal visual features that cannot distinguish structural changes from viewpoint-induced differences - a distinction essential for correct update decisions. We propose SCD4VPR, a scene change detection that jointly reasons about what has changed and distinguishes genuine change fr...
| Authors | Diwei Sheng, Vijayraj Gohil, Satyam Gaba et al. |
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| Primary category | cs.CV |
| Published | 13 April 2026 |
| Last updated at source | 6 August 2026 |
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