Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: POCD: Probabilistic Object-Level Change Detection and Volumetric Mapping
  in Semi-Static Scenes   Maintaining an up-to-date map to reflect recent changes in the scene is very
important, particularly in situations involving repeated traversals by a robot
operating in an environment over an extended period. Undetected changes may
cause a deterioration in map quality, leading to poor localization, inefficient
operations, and lost robots. Volumetric methods, such as truncated signed
distance functions (TSDFs), have quickly gained traction due to their real-time
production of a dense and detailed map, though map updating in scenes that
change over time remains a challenge. We propose a framework that introduces a
novel probabilistic object state representation to track object pose changes in
semi-static scenes. The representation jointly models a stationarity score and
a TSDF change measure for each object. A Bayesian update rule that incorporates
both geometric and semantic information is derived to achieve consistent online
map maintenance. To extensively evaluate our approach alongside the
state-of-the-art, we release a novel real-world dataset in a warehouse
environment. We also evaluate on the public ToyCar dataset. Our method
outperforms state-of-the-art methods on the reconstruction quality of
semi-static environments.

29
The categories of this paper are: funct-an
8
The categories of this paper are: hep-ex
21
The categories of this paper are: adap-org
18
The categories of this paper are: econ
10
The categories of this paper are: q-bio
3
The categories of this paper are: physics
36
The categories of this paper are: cmp-lg
27
The categories of this paper are: comp-gas
25
The categories of this paper are: patt-sol
31
The categories of this paper are: ao-sci
22
The categories of this paper are: chao-dyn
2
The categories of this paper are: math
9
The categories of this paper are: nlin
37
The categories of this paper are: supr-con
17
The categories of this paper are: q-fin
13
The categories of this paper are: quant-ph