3DGS-CD: 3D Gaussian Splatting-based Change Detection for Physical Object Rearrangement

Ziqi Lu, Jianbo Ye, John Leonard

We present 3DGS-CD, the first 3D Gaussian Splatting (3DGS)-based method for detecting physical object rearrangements in 3D scenes. Our approach estimates 3D object-level changes by…