Irregular Change Detection in Sparse Bi-Temporal Point Clouds Using Learned Place Recognition Descriptors and Point-to-Voxel Comparison

Nikolaos Stathoulopoulos,Anton Koval,George Nikolakopoulos,Nikolaos Stathoulopoulos,Anton Koval,George Nikolakopoulos

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments. This article proposes an innovative approach for change detection in 3D point clouds using deep learned place recognition descriptors and irregular object extrac...