3D change detection in staggered voxels model for robotic sensing and navigation

Abstract

3D scene change detection is a challenging problem in robotic sensing and navigation. There are several unpredictable aspects in performing scene change detection. A change detection method which can support various applications in varying environmental conditions is proposed. Point cloud models are acquired from a RGB-D sensor, which provides the required color and depth information. Change detection is performed on robot view point cloud model. A bilateral filter smooths the surface and fills the holes as well as keeps the edge details on depth image. Registration of the point cloud model is implemented by using Random Sample Consensus (RANSAC) algorithm. It uses surface normal as the previous stage for the ground and wall estimate. After preprocessing the data, we create a point voxel model which defines voxel as surface or free space. Then we create a color model which defines each voxel that has a color by the mean of all points' color value in this voxel. The preliminary change detection is detected by XOR subtract on the point voxel model. Next, the eight neighbors for this center voxel are defined. If they are neither all 'changed' voxels nor all 'no changed' voxels, a histogram of location and hue channel color is estimated. The experimental evaluations performed to evaluate the capability of our algorithm show promising results for novel change detection that indicate all the changing objects with very limited false alarm rate.