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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