TERDNet: Transformer Encoder-Recurrent Decoder Network for Scene Change Detection

In this work, we address the challenge of Scene Change Detection (SCD), where the goal is to identify variations between two images of the same location captured at different times. Existing SCD models often overlook the varying importance of features across layers, employ single-step decoders that confine refinement, and provide limited insight into encoder pretraining strategies. We propose TERDNet, a Transformer Encoder-Recurrent Decoder Network designed to overcome these limitations. TERDNet consists of a transformer-based encoder that extracts multi-level representations, a feature fusion module that integrates correlation volumes with these features, a recurrent 3-gate-GRU decoder that performs iterative refinement, and a combined convolution-interpolation upsampler that restores fine-grained resolution. Extensive experiments on four public benchmarks show that TERDNet consistently outperforms prior approaches and produces more accurate and detailed change masks. Ablation studies confirm the benefit of segmentation-based pretraining and the effectiveness of our fusion design. In addition, robustness tests under viewpoint misalignment confirm TERDNet's potential for deployment in real-world robotic systems, where reliable perception is critical. Our code is available at https://github.com/AutoCompSysLab/TERDNet.

VSCD: Video-based Scene Change Detection in Unaligned Scenes

Detecting what has changed in an environment is essential for long-term autonomy, yet most change detection settings assume fixed viewpoints, mild misalignment, or only a few changed objects. We introduce Video-based Scene Change Detection (VSCD), which predicts a pixel-wise change mask for each query frame, given a reference and a query RGB video of the same indoor space recorded at different times under unconstrained camera motion. The two videos are not temporally synchronized, and many object instances may appear or disappear. To study this setting, we build a large-scale benchmark with over 1.1 million frames annotated with pixel-accurate change masks, together with a real-world test set for evaluating transfer beyond simulation. We propose a query-centric multi-reference model that learns temporal matching implicitly from change-mask supervision, aligns candidate reference features to the query via local patch correspondence, and fuses per-candidate change features using frame-level and patch-level confidence before decoding a high-resolution mask once per frame. Our approach achieves state-of-the-art performance against strong image- and video-based baselines, and we validate its real-world impact by deploying it on a mobile robot for two downstream applications -- visual surveillance and object incremental learning.