O-SCD++: Replay-Free Online Scene Change Detection via Recursive Evidence Fusion
Online scene change detection requires an agent to detect what has changed in a previously mapped environment while it is still on site, observing from unconstrained viewpoints and without access to future observations. This causal setting is strictly harder than its offline counterpart, and online methods have consistently trailed offline accuracy. O-SCD closed that gap by treating change as a persistent property of a 3D Gaussian splatting map of the reference scene, surpassing the strongest offline methods in change detection accuracy while operating at over 10 frames per second. O-SCD optimizes a change field over the Gaussians of the reference map, refitting it to all past cue maps at...
| Authors | Chamuditha Jayanga Galappaththige, Jason Lai, Lloyd Windrim et al. |
|---|---|
| Primary category | cs.CV |
| Published | 17 October 2026 |
| Last updated at source | 17 October 2026 |
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