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A fast voxel-based indicator for change detection using low resolution octrees

: Gehrung, Joachim; Hebel, Marcus; Arens, Michael; Stilla, Uwe

Fulltext urn:nbn:de:0011-n-5462898 (1.4 MByte PDF)
MD5 Fingerprint: 28d27487d96b7bb1f3b23c8910185737
Created on: 6.6.2019

Vosselman, G. ; International Society for Photogrammetry and Remote Sensing -ISPRS-:
ISPRS Geospatial Week 2019 : 10–14 June 2019, Enschede, The Netherlands
Istanbul: ISPRS, 2019 (ISPRS Annals IV-2/W5)
pp. 357-364
Geospatial Week <2019, Enschede>
Conference Paper, Electronic Publication
Fraunhofer IOSB ()
Change Detection; Local Deformation Analysis; Volumetric Environment Representation

This paper proposes a change detection approach that uses a low-resolution octree enhanced with Gaussian kernels to describe free and occupied space. This so-called Gaussian Occupancy Octree is derived from range measurements and used to represent spatial information for a single epoch. Changes between epochs are encoded using a Delta Octree. A qualitative and quantitative evaluation of the proposed approach shows that its advantages are a fast runtime and the ability to make a statement about the re-exploration of space. An evaluation of the classification accuracy shows that our approach tents towards correct classifications with an overall accuracy of 51.5?%, but is also systematically biased towards the appearance of occupied space.