LiSTA: Geometric Object-Based Change Detection in Cluttered Environments
Joseph Rowell,Lintong Zhang,Maurice Fallon,Joseph Rowell,Lintong Zhang,Maurice Fallon
We present LiSTA (LiDAR Spatio-Temporal Analysis), a system to detect probabilistic object-level change over time using multi-mission SLAM. Many applications require such a system, including construction, robotic navigation, long-term autonomy, and environmental monitoring. We focus on the semi-static scenario where objects are added, subtracted, or changed in position over weeks or months. Our sy...
