ISPRS-Annals ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences ISPRS-Annals ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci. 2194-9050 Copernicus Publications Göttingen, Germany 10.5194/isprs-annals-IV-2-W5-357-2019 A FAST VOXEL-BASED INDICATOR FOR CHANGE DETECTION USING LOW RESOLUTION OCTREES Gehrung J. 1 2 Hebel M. 1 Arens M. 1 Stilla U. https://orcid.org/0000-0002-1184-0924 2 Fraunhofer Institute of Optronics, System Technologies and Image Exploitation IOSB, 76275 Ettlingen, Germany Photogrammetry and Remote Sensing, Technische Universitaet Muenchen, 80333 Muenchen, Germany 29 05 2019 IV-2/W5 357 364 Copyright: © 2019 J. Gehrung et al. 2019 This work is licensed under the Creative Commons Attribution 4.0 International License. To view a copy of this licence, visit https://creativecommons.org/licenses/by/4.0/ This article is available from https://isprs-annals.copernicus.org/articles/IV-2-W5/357/2019/isprs-annals-IV-2-W5-357-2019.html The full text article is available as a PDF file from https://isprs-annals.copernicus.org/articles/IV-2-W5/357/2019/isprs-annals-IV-2-W5-357-2019.pdf

This paper proposes a change detection approach that uses a low-resolution octree enhanced with Gaussian kernels to describe free and occupied space. This so-called Gaussian Occupancy Octree is derived from range measurements and used to represent spatial information for a single epoch. Changes between epochs are encoded using a Delta Octree. A qualitative and quantitative evaluation of the proposed approach shows that its advantages are a fast runtime and the ability to make a statement about the re-exploration of space. An evaluation of the classification accuracy shows that our approach tents towards correct classifications with an overall accuracy of 51.5 %, but is also systematically biased towards the appearance of occupied space.