The dataset and the code will be released here.
We introduce a new real-world dataset containing image sequences collected from ten challenging scenes captured using an iPhone following random and independent trajectories. Among the five indoor and five outdoor scenes, three from each are forward-facing and the remaining two are 360°. See below for details and visualizations:
| Scene | Indoor/Outdoor | FF/360° | Changes (click to expand) |
|---|---|---|---|
| Cantina | Indoor | FF |  |
| Lounge | Indoor | FF |  |
| Printing Area | Indoor | FF |  |
| Lunch Room | Indoor | 360° |  |
| Meeting Room | Indoor | 360° |  |
| Garden | Outdoor | FF |  |
| Pots | Outdoor | FF |  |
| Zen | Outdoor | FF |  |
| Playground | Outdoor | 360° |  |
| Porch | Outdoor | 360° |  |
Each scene contains images from two reference (pre-change) instances — referred to as Instance 1 and Instance 2 in the paper and dataset — one inference (post-change) image set and labelled ground truth masks from the camera poses of the inference set. Each reference instance contains 50–109 images stored in <Scene>/<Instance_#>/input_orig. Each inference set contains 25 images stored in <Scene/<Instance_#>/input_orig_test and their respective masks in <Scene>/<Instance_#>/gt_mask. Between either reference instance and the inference set, there are 5–16 relevant structural and surface-level changes. These changes are listed in changes.txt under each <Scene>/<Instance_#> combination. Comparing Instance 1 with the inference set tests change detection under consistent lighting conditions, while comparing Instance 2 with the inference set tests change detection under different lighting conditions. See below for the directory structure:
├── / │ ├── Cantina │ │ ├── Instance_1 │ │ │ ├── changes.txt │ │ │ ├── gt_mask │ │ │ │ ├── Inst_1_test_IMG_nnnn.png │ │ │ │ ├── ... │ │ │ ├── input_orig │ │ │ │ ├── Inst_1_IMG_####.png │ │ │ │ ├── ... │ │ │ ├── input_orig_test │ │ │ │ ├── Inst_1_test_IMG_####.png │ │ │ │ ├── ... │ │ ├── Instance_2 │ │ │ ├── changes.txt │ │ │ ├── gt_mask │ │ │ │ ├── Inst_2_test_IMG_nnnn.png │ │ │ │ ├── ... │ │ │ ├── input_orig │ │ │ │ ├── Inst_2_IMG_####.png │ │ │ │ ├── ... │ │ │ ├── input_orig_test │ │ │ │ ├── Inst_2_test_IMG_####.png │ │ │ │ ├── ... │ ├── Lounge │ ├── ...