# Changes in Real Time: Online Scene Change Detection with Multi-View Fusion

arXiv: https://arxiv.org/abs/2511.12370 · HTML: https://mlsanity.com/paper/2511.12370/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 40 of its 54 references that are in the map.
- First posted on arXiv 15 Nov 2025.

## Builds on (most cited first, 30 of 40)

- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [SAM 2: Segment Anything in Images and Videos](https://mlsanity.com/paper/2408.00714/) (2024)
- [4D Gaussian Splatting for Real-Time Dynamic Scene Rendering](https://mlsanity.com/paper/2310.08528/) (2023)
- [From Coarse to Fine: Robust Hierarchical Localization at Large Scale](https://mlsanity.com/paper/1812.03506/) (2018)
- [Fully Convolutional Siamese Networks for Change Detection](https://mlsanity.com/paper/1810.08462/) (2018)
- [XFeat: Accelerated Features for Lightweight Image Matching](https://mlsanity.com/paper/2404.19174/) (2024)
- [Speedy-Splat: Fast 3D Gaussian Splatting with Sparse Pixels and Sparse Primitives](https://mlsanity.com/paper/2412.00578/) (2024)
- [RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation](https://mlsanity.com/paper/2403.06341/) (2024)
- [PAD: A Dataset and Benchmark for Pose-agnostic Anomaly Detection](https://mlsanity.com/paper/2310.07716/) (2023)
- [Weakly Supervised Silhouette-based Semantic Scene Change Detection](https://mlsanity.com/paper/1811.11985/) (2018)
- [3DGS-LM: Faster Gaussian-Splatting Optimization with Levenberg-Marquardt](https://mlsanity.com/paper/2409.12892/) (2024)
- [Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency](https://mlsanity.com/paper/2109.10165/) (2021)
- [Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments](https://mlsanity.com/paper/2402.13817/) (2024)
- [On-the-fly Reconstruction for Large-Scale Novel View Synthesis from Unposed Images](https://mlsanity.com/paper/2506.05558/) (2025)
- [DR-TANet: Dynamic Receptive Temporal Attention Network for Street Scene Change Detection](https://mlsanity.com/paper/2103.00879/) (2021)
- [Hierarchical Paired Channel Fusion Network for Street Scene Change Detection](https://mlsanity.com/paper/2010.09925/) (2020)
- [ChangeSim: Towards End-to-End Online Scene Change Detection in Industrial Indoor Environments](https://mlsanity.com/paper/2103.05368/) (2021)
- [SplatPose & Detect: Pose-Agnostic 3D Anomaly Detection](https://mlsanity.com/paper/2404.06832/) (2024)
- [CLNeRF: Continual Learning Meets NeRF](https://mlsanity.com/paper/2308.14816/) (2023)
- [LongSplat: Robust Unposed 3D Gaussian Splatting for Casual Long Videos](https://mlsanity.com/paper/2508.14041/) (2025)
- [The Change You Want to See (Now in 3D)](https://mlsanity.com/paper/2308.10417/) (2023)
- [Towards Generalizable Scene Change Detection](https://mlsanity.com/paper/2409.06214/) (2024)
- [Living Scenes: Multi-object Relocalization and Reconstruction in Changing 3D Environments](https://mlsanity.com/paper/2312.09138/) (2023)
- [3DGS-CD: 3D Gaussian Splatting-based Change Detection for Physical Object Rearrangement](https://mlsanity.com/paper/2411.03706/) (2024)
- [Zero-Shot Scene Change Detection](https://mlsanity.com/paper/2406.11210/) (2024)
- [ZeroSCD: Zero-Shot Street Scene Change Detection](https://mlsanity.com/paper/2409.15255/) (2024)
- [Robust Scene Change Detection Using Visual Foundation Models and Cross-Attention Mechanisms](https://mlsanity.com/paper/2409.16850/) (2024)

## Built on by (most cited first, 3 of 3)

- [Predictive Photometric Uncertainty in Gaussian Splatting for Novel View Synthesis](https://mlsanity.com/paper/2603.22786/) (2026)
- [From Pixels to Primitives: Scene Change Detection in 3D Gaussian Splatting](https://mlsanity.com/paper/2605.07203/) (2026)
- [PlenoCI: Plenoptic CharacterIstics for View Dependence Aware Change Classification](https://mlsanity.com/paper/2609.28930/) (2026)

## Abstract (arXiv)

Online Scene Change Detection (SCD) is an extremely challenging problem that requires an agent to detect relevant changes on the fly while observing the scene from unconstrained viewpoints. Existing online SCD methods are significantly less accurate than offline approaches. We present the first online SCD approach that is pose-agnostic, label-free, and ensures multi-view consistency, while operating at over 10 FPS and achieving new state-of-the-art performance, surpassing even the best offline approaches. Our method introduces a new self-supervised fusion loss to infer scene changes from multiple cues and observations, PnP-based fast pose estimation against the reference scene, and a fast change-guided update strategy for the 3D Gaussian Splatting scene representation. Extensive experiments on complex real-world datasets demonstrate that our approach outperforms both online and offline baselines.