City-scale Scene Change Detection using Point Clouds

This "src/" folder in this repository contains some useful codes for the following paper:

@inproceedings{yew2020-CityScaleCD, 
    title={City-scale Scene Change Detection using Point Clouds}, 
    author={Yew, Zi Jian and Lee, Gim Hee}, 
    booktitle={International Conference on Robotics and Automation (ICRA)},
    year={2021} 
}

Visualize annotations

Download the annotated images from the project website, place them in the "eval_data/" folder. Then run the following code to visualize the images:

python visualize.py

Disappearance and appearance of objects are marked in blue and red respectively.

Projection and Evaluation code

1. Ensure that our annotated images are placed in the "eval_data/" folder.

2. Download our detected changes, and place them in the "results3d/" folder.

3. Project the detected changes onto the 2D test images, by running:

   python project_changes.py

   The projected changes will be placed in the "results/" folder.

4. Lastly, run the evaluation code to compute the evaluation metrics.

   python evaluate.py