mlsanityData to 7 Oct 2026

ChangeSim: Towards End-to-End Online Scene Change Detection in Industrial Indoor Environments

arXiv 2103.05368 ↗First posted 9 Mar 2021cs.CV cs.ROcited by 28

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Abstract (arXiv)

We present a challenging dataset, ChangeSim, aimed at online scene change detection (SCD) and more. The data is collected in photo-realistic simulation environments with the presence of environmental non-targeted variations, such as air turbidity and light condition changes, as well as targeted object changes in industrial indoor environments. By collecting data in simulations, multi-modal sensor data and precise ground truth labels are obtainable such as the RGB image, depth image, semantic segmentation, change segmentation, camera poses, and 3D reconstructions. While the previous online SCD datasets evaluate models given well-aligned image pairs, ChangeSim also provides raw unpaired sequences that present an opportunity to develop an online SCD model in an end-to-end manner, considering both pairing and detection. Experiments show that even the latest pair-based SCD models suffer from the bottleneck of the pairing process, and it gets worse when the environment contains the non-targeted variations. Our dataset is available at http://sammica.github.io/ChangeSim/.

Key facts. Cited by 28 papers in the map (data through 7 Oct 2026). Builds on 9 of its 20 references that are in the map. First posted on arXiv 9 Mar 2021.

Builds on

9 of 20 references.

References · 9

  1. 2016The Cityscapes Dataset for Semantic Urban Scene Understandingcited by 4,427
  2. 2016DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFscited by 3,239
  3. 2018Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentationcited by 3,210
  4. 2015FlowNet: Learning Optical Flow with Convolutional Networkscited by 1,054
  5. 2017AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehiclescited by 517
  6. 2019RIO: 3D Object Instance Re-Localization in Changing Indoor Environmentscited by 187
  7. 2018InteriorNet: Mega-scale Multi-sensor Photo-realistic Indoor Scenes Datasetcited by 87
  8. 2018Weakly Supervised Silhouette-based Semantic Scene Change Detectioncited by 44
  9. 2020Epipolar-Guided Deep Object Matching for Scene Change Detectioncited by 7

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 6; 2023: 3; 2024: 8; 2025: 5; 2026: 6.

28 papers.

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  1. 2022How to Reduce Change Detection to Semantic Segmentationcited by 28
  2. 20223D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphscited by 24
  3. 2024SemiCD-VL: Visual-Language Model Guidance Makes Better Semi-supervised Change Detectorcited by 18
  4. 2024Towards Generalizable Scene Change Detectioncited by 17
  5. 2024Zero-Shot Scene Change Detectioncited by 13
  6. 2024CCExpert: Advancing MLLM Capability in Remote Sensing Change Captioning with Difference-Aware Integration and a Foundational Datasetcited by 13
  7. 2024Robust Scene Change Detection Using Visual Foundation Models and Cross-Attention Mechanismscited by 12
  8. 2024Multi-View Pose-Agnostic Change Localization with Zero Labelscited by 12
  9. 2024Step Differences in Instructional Videocited by 11
  10. 2022StandardSim: A Synthetic Dataset For Retail Environmentscited by 6
  11. 2023Has Anything Changed? 3D Change Detection by 2D Segmentation Maskscited by 4
  12. 2024UMAD: University of Macau Anomaly Detection Benchmark Datasetcited by 4
16 more
  1. 2025SceneDiff: A Benchmark and Method for Multiview Object Change Detectioncited by 4
  2. 2022Self-Calibrating Anomaly and Change Detection for Autonomous Inspection Robotscited by 3
  3. 2025Changes in Real Time: Online Scene Change Detection with Multi-View Fusioncited by 3
  4. 2022The Change You Want to Seecited by 2
  5. 2025Situat3DChange: Situated 3D Change Understanding Dataset for Multimodal Large Language Modelcited by 2
  6. 2022Sparse Image based Navigation Architecture to Mitigate the need of precise Localization in Mobile Robotscited by 1
  7. 2023SoftMatch Distance: A Novel Distance for Weakly-Supervised Trend Change Detection in Bi-Temporal Imagescited by 1
  8. 2023TAMPAR: Visual Tampering Detection for Parcel Logistics in Postal Supply Chainscited by 1
  9. 2025Environmental Change Detection for Real-World Change Analysiscited by 1
  10. 2025Leveraging Geometric Priors for Unaligned Scene Change Detectioncited by 1
  11. 2026Revisiting Change Detection Methods for their Application to Serac Fall Time-Lapse Monitoringcited by 1
  12. 2026Chamelion: Reliable Change Detection for Long-Term LiDAR Mapping in Transient Environmentscited by 0
  13. 2026SCD4VPR: Multi-modal Scene Change Detection for Long-term Visual Place Recognition Database Updatecited by 0
  14. 2026TERDNet: Transformer Encoder-Recurrent Decoder Network for Scene Change Detectioncited by 0
  15. 2026PlenoCI: Plenoptic CharacterIstics for View Dependence Aware Change Classificationcited by 0
  16. 2026ShelfChange3D: Object-Level 3D Change Detection for Retail Shelf Monitoringcited by 0