Abstract
The problem studied in this paper is to detect changes in both indoor scenes and natural outdoor scenes. The sensor is a scanning range measuring laser mounted on a mobile robot. The system should have the capability to detect when objects have been moved, have disappeared or when new objects have entered the area to be monitored. Also, the mobile robot must be able to navigate despite there are changes in the scene.The paper describes a method for simultaneous change detection and pose estimation. The algorithms are presently tested for outdoor scenes. The key tool is the distance transform
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