With recent progress in large-scale map maintenance and long-term map learning, the task of change detection on a large-scale map from a visual image captured by a mobile robot has become a problem of increasing criticality. In this paper, we present an efficient approach of change-classifier-learning, more specifically, in the proposed approach, a collection of place-specific change classifiers is employed. Our approach requires the memorization of only training examples (rather than the classifier itself), which can be further compressed in the form of bag-of-words (BoW). Furthermore, through the proposed approach the most recent map can be incorporated into the classifiers by straightforwardly adding or deleting a few training examples that correspond to these classifiers. The proposed algorithm is applied and evaluated on a practical long-term cross-season change detection system that consists of a large number of place-specific object-level change classifiers.
Change detection with cross enhancement of high‐ and low‐level change‐related features