Change Detection under Global Viewpoint Uncertainty

  title={Change Detection under Global Viewpoint Uncertainty},
  author={Tomoya Murase and Kanji Tanaka},
This paper addresses the problem of change detection from a novel perspective of long-term map learning. We are particularly interested in designing an approach that can scale to large maps and that can function under global uncertainty in the viewpoint (i.e., GPS-denied situations). Our approach, which utilizes a compact bag-of-words (BoW) scene model… CONTINUE READING