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

arXiv: https://arxiv.org/abs/2103.05368 · HTML: https://mlsanity.com/paper/2103.05368/

## Key facts

- Cited by 28 papers in the map (data through 14 Oct 2026).
- Builds on 9 of its 20 references that are in the map.
- First posted on arXiv 9 Mar 2021.

## Builds on (most cited first, 9 of 9)

- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs](https://mlsanity.com/paper/1606.00915/) (2016)
- [Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1802.02611/) (2018)
- [FlowNet: Learning Optical Flow with Convolutional Networks](https://mlsanity.com/paper/1504.06852/) (2015)
- [AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles](https://mlsanity.com/paper/1705.05065/) (2017)
- [RIO: 3D Object Instance Re-Localization in Changing Indoor Environments](https://mlsanity.com/paper/1908.06109/) (2019)
- [InteriorNet: Mega-scale Multi-sensor Photo-realistic Indoor Scenes Dataset](https://mlsanity.com/paper/1809.00716/) (2018)
- [Weakly Supervised Silhouette-based Semantic Scene Change Detection](https://mlsanity.com/paper/1811.11985/) (2018)
- [Epipolar-Guided Deep Object Matching for Scene Change Detection](https://mlsanity.com/paper/2007.15540/) (2020)

## Built on by (most cited first, 28 of 28)

- [How to Reduce Change Detection to Semantic Segmentation](https://mlsanity.com/paper/2206.07557/) (2022)
- [3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs](https://mlsanity.com/paper/2209.07896/) (2022)
- [SemiCD-VL: Visual-Language Model Guidance Makes Better Semi-supervised Change Detector](https://mlsanity.com/paper/2405.04788/) (2024)
- [Towards Generalizable Scene Change Detection](https://mlsanity.com/paper/2409.06214/) (2024)
- [Zero-Shot Scene Change Detection](https://mlsanity.com/paper/2406.11210/) (2024)
- [CCExpert: Advancing MLLM Capability in Remote Sensing Change Captioning with Difference-Aware Integration and a Foundational Dataset](https://mlsanity.com/paper/2411.11360/) (2024)
- [Robust Scene Change Detection Using Visual Foundation Models and Cross-Attention Mechanisms](https://mlsanity.com/paper/2409.16850/) (2024)
- [Multi-View Pose-Agnostic Change Localization with Zero Labels](https://mlsanity.com/paper/2412.03911/) (2024)
- [Step Differences in Instructional Video](https://mlsanity.com/paper/2404.16222/) (2024)
- [StandardSim: A Synthetic Dataset For Retail Environments](https://mlsanity.com/paper/2202.02418/) (2022)
- [Has Anything Changed? 3D Change Detection by 2D Segmentation Masks](https://mlsanity.com/paper/2312.01148/) (2023)
- [UMAD: University of Macau Anomaly Detection Benchmark Dataset](https://mlsanity.com/paper/2408.12527/) (2024)
- [SceneDiff: A Benchmark and Method for Multiview Object Change Detection](https://mlsanity.com/paper/2512.16908/) (2025)
- [Self-Calibrating Anomaly and Change Detection for Autonomous Inspection Robots](https://mlsanity.com/paper/2209.02379/) (2022)
- [Changes in Real Time: Online Scene Change Detection with Multi-View Fusion](https://mlsanity.com/paper/2511.12370/) (2025)
- [The Change You Want to See](https://mlsanity.com/paper/2209.14341/) (2022)
- [Situat3DChange: Situated 3D Change Understanding Dataset for Multimodal Large Language Model](https://mlsanity.com/paper/2510.11509/) (2025)
- [Sparse Image based Navigation Architecture to Mitigate the need of precise Localization in Mobile Robots](https://mlsanity.com/paper/2203.15272/) (2022)
- [SoftMatch Distance: A Novel Distance for Weakly-Supervised Trend Change Detection in Bi-Temporal Images](https://mlsanity.com/paper/2303.04737/) (2023)
- [TAMPAR: Visual Tampering Detection for Parcel Logistics in Postal Supply Chains](https://mlsanity.com/paper/2311.03124/) (2023)
- [Environmental Change Detection for Real-World Change Analysis](https://mlsanity.com/paper/2506.11481/) (2025)
- [Leveraging Geometric Priors for Unaligned Scene Change Detection](https://mlsanity.com/paper/2509.11292/) (2025)
- [Revisiting Change Detection Methods for their Application to Serac Fall Time-Lapse Monitoring](https://mlsanity.com/paper/2605.28100/) (2026)
- [PlenoCI: Plenoptic CharacterIstics for View Dependence Aware Change Classification](https://mlsanity.com/paper/2609.28930/) (2026)
- [Chamelion: Reliable Change Detection for Long-Term LiDAR Mapping in Transient Environments](https://mlsanity.com/paper/2602.08189/) (2026)
- [SCD4VPR: Multi-modal Scene Change Detection for Long-term Visual Place Recognition Database Update](https://mlsanity.com/paper/2604.11402/) (2026)
- [TERDNet: Transformer Encoder-Recurrent Decoder Network for Scene Change Detection](https://mlsanity.com/paper/2605.20822/) (2026)
- [ShelfChange3D: Object-Level 3D Change Detection for Retail Shelf Monitoring](https://mlsanity.com/paper/2610.01283/) (2026)

## 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/.