{"id":"https://openalex.org/W3194159989","doi":"https://doi.org/10.1109/lra.2021.3105721","title":"ChangeGAN: A Deep Network for Change Detection in Coarsely Registered Point Clouds","display_name":"ChangeGAN: A Deep Network for Change Detection in Coarsely Registered Point Clouds","publication_year":2021,"publication_date":"2021-08-18","ids":{"openalex":"https://openalex.org/W3194159989","doi":"https://doi.org/10.1109/lra.2021.3105721","mag":"3194159989"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3105721","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3105721","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9475905/09516975.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/9475905/09516975.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037066482","display_name":"Bal\u00e1zs Nagy","orcid":"https://orcid.org/0000-0003-0338-863X"},"institutions":[{"id":"https://openalex.org/I31882830","display_name":"P\u00e1zm\u00e1ny P\u00e9ter Catholic University","ror":"https://ror.org/05v9kya57","country_code":"HU","type":"education","lineage":["https://openalex.org/I31882830"]},{"id":"https://openalex.org/I4210117195","display_name":"Institute for Computer Science and Control","ror":"https://ror.org/0249v7n71","country_code":"HU","type":"facility","lineage":["https://openalex.org/I4210117195","https://openalex.org/I7597260"]}],"countries":["HU"],"is_corresponding":true,"raw_author_name":"Balazs Nagy","raw_affiliation_strings":["Institute for Computer Science and Control (SZTAKI), E\u00f6tv\u00f6s Lor\u00e1nd Research Network, Budapest, Hungary","P\u00e9ter P\u00e1zm\u00e1ny Catholic University, Budapest, Hungary"],"affiliations":[{"raw_affiliation_string":"Institute for Computer Science and Control (SZTAKI), E\u00f6tv\u00f6s Lor\u00e1nd Research Network, Budapest, Hungary","institution_ids":["https://openalex.org/I4210117195"]},{"raw_affiliation_string":"P\u00e9ter P\u00e1zm\u00e1ny Catholic University, Budapest, Hungary","institution_ids":["https://openalex.org/I31882830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029933708","display_name":"L\u00f3r\u00e1nt Kov\u00e1cs","orcid":"https://orcid.org/0000-0001-9930-348X"},"institutions":[{"id":"https://openalex.org/I31882830","display_name":"P\u00e1zm\u00e1ny P\u00e9ter Catholic University","ror":"https://ror.org/05v9kya57","country_code":"HU","type":"education","lineage":["https://openalex.org/I31882830"]},{"id":"https://openalex.org/I4210117195","display_name":"Institute for Computer Science and Control","ror":"https://ror.org/0249v7n71","country_code":"HU","type":"facility","lineage":["https://openalex.org/I4210117195","https://openalex.org/I7597260"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Lorant Kovacs","raw_affiliation_strings":["Institute for Computer Science and Control (SZTAKI), E\u00f6tv\u00f6s Lor\u00e1nd Research Network, Budapest, Hungary","P\u00e9ter P\u00e1zm\u00e1ny Catholic University, Budapest, Hungary"],"affiliations":[{"raw_affiliation_string":"Institute for Computer Science and Control (SZTAKI), E\u00f6tv\u00f6s Lor\u00e1nd Research Network, Budapest, Hungary","institution_ids":["https://openalex.org/I4210117195"]},{"raw_affiliation_string":"P\u00e9ter P\u00e1zm\u00e1ny Catholic University, Budapest, Hungary","institution_ids":["https://openalex.org/I31882830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044638075","display_name":"Csaba Benedek","orcid":"https://orcid.org/0000-0003-3203-0741"},"institutions":[{"id":"https://openalex.org/I31882830","display_name":"P\u00e1zm\u00e1ny P\u00e9ter Catholic University","ror":"https://ror.org/05v9kya57","country_code":"HU","type":"education","lineage":["https://openalex.org/I31882830"]},{"id":"https://openalex.org/I4210117195","display_name":"Institute for Computer Science and Control","ror":"https://ror.org/0249v7n71","country_code":"HU","type":"facility","lineage":["https://openalex.org/I4210117195","https://openalex.org/I7597260"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Csaba Benedek","raw_affiliation_strings":["Institute for Computer Science and Control (SZTAKI), E\u00f6tv\u00f6s Lor\u00e1nd Research Network, Budapest, Hungary","P\u00e9ter P\u00e1zm\u00e1ny Catholic University, Budapest, Hungary"],"affiliations":[{"raw_affiliation_string":"Institute for Computer Science and Control (SZTAKI), E\u00f6tv\u00f6s Lor\u00e1nd Research Network, Budapest, Hungary","institution_ids":["https://openalex.org/I4210117195"]},{"raw_affiliation_string":"P\u00e9ter P\u00e1zm\u00e1ny Catholic University, Budapest, Hungary","institution_ids":["https://openalex.org/I31882830"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5037066482"],"corresponding_institution_ids":["https://openalex.org/I31882830","https://openalex.org/I4210117195"],"apc_list":null,"apc_paid":null,"fwci":1.371,"has_fulltext":true,"cited_by_count":22,"citation_normalized_percentile":{"value":0.7816752,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"6","issue":"4","first_page":"8277","last_page":"8284"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10111","display_name":"Remote Sensing in Agriculture","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2303","display_name":"Ecology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10689","display_name":"Remote-Sensing Image Classification","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8517853021621704},{"id":"https://openalex.org/keywords/change-detection","display_name":"Change detection","score":0.7483431100845337},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7135549783706665},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6604194641113281},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5840214490890503},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5748111009597778},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.51203852891922},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.49445676803588867},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.47579917311668396},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.43457096815109253},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.43013471364974976},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.42404231429100037},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.41420379281044006},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3481045663356781},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1317768394947052}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8517853021621704},{"id":"https://openalex.org/C203595873","wikidata":"https://www.wikidata.org/wiki/Q25389927","display_name":"Change detection","level":2,"score":0.7483431100845337},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7135549783706665},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6604194641113281},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5840214490890503},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5748111009597778},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.51203852891922},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.49445676803588867},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.47579917311668396},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.43457096815109253},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.43013471364974976},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.42404231429100037},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.41420379281044006},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3481045663356781},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1317768394947052},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3105721","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3105721","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9475905/09516975.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:eprints.sztaki.hu:10217","is_oa":false,"landing_page_url":"https://eprints.sztaki.hu/10217/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401907","display_name":"SZTAKI Publication Repository (Hungarian Academy of Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I7597260","host_organization_name":"Hungarian Academy of Sciences","host_organization_lineage":["https://openalex.org/I7597260"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":{"id":"doi:10.1109/lra.2021.3105721","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3105721","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9475905/09516975.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8500000238418579,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3194159989.pdf","grobid_xml":"https://content.openalex.org/works/W3194159989.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W603908379","https://openalex.org/W1491464071","https://openalex.org/W1901129140","https://openalex.org/W1968114652","https://openalex.org/W2088265804","https://openalex.org/W2091546400","https://openalex.org/W2115579991","https://openalex.org/W2126742341","https://openalex.org/W2158479016","https://openalex.org/W2171590421","https://openalex.org/W2205574202","https://openalex.org/W2291440935","https://openalex.org/W2292658742","https://openalex.org/W2479519232","https://openalex.org/W2502226073","https://openalex.org/W2543281563","https://openalex.org/W2554423077","https://openalex.org/W2618385736","https://openalex.org/W2751993439","https://openalex.org/W2809026923","https://openalex.org/W2894875292","https://openalex.org/W2895975145","https://openalex.org/W2914666560","https://openalex.org/W2948648905","https://openalex.org/W2955719699","https://openalex.org/W3206198687","https://openalex.org/W6618372016","https://openalex.org/W6629526168","https://openalex.org/W6679187224","https://openalex.org/W6729856380","https://openalex.org/W6755049344","https://openalex.org/W6793590051"],"related_works":["https://openalex.org/W2568858292","https://openalex.org/W1515964938","https://openalex.org/W2389381914","https://openalex.org/W3016928466","https://openalex.org/W4226493464","https://openalex.org/W4312417841","https://openalex.org/W3193565141","https://openalex.org/W3133861977","https://openalex.org/W3167935049","https://openalex.org/W3029198973"],"abstract_inverted_index":{"In":[0],"this":[1],"letter":[2],"we":[3,106],"introduce":[4],"a":[5,68],"novel":[6],"change":[7,75,113],"detection":[8,114],"approach":[9],"called":[10],"ChangeGAN":[11],"for":[12,43],"coarsely":[13],"registered":[14],"point":[15,49,89],"clouds":[16,50,90],"in":[17],"complex":[18],"street-level":[19],"urban":[20],"environment.":[21],"Our":[22],"generative":[23],"adversarial":[24],"network-like":[25],"(GAN)":[26],"architecture":[27],"compounds":[28],"Siamese-style":[29],"feature":[30],"extraction,":[31],"U-net-like":[32],"use":[33,59],"of":[34,60,70,93],"multiscale":[35],"features,":[36],"and":[37,105],"Spatial":[38],"Trans-formation":[39],"Network":[40],"(STN)":[41],"blocks":[42],"optimal":[44],"transformation":[45],"estimation.":[46],"The":[47,65],"input":[48,79,88],"are":[51],"represented":[52],"by":[53],"range":[54,80],"images,":[55],"which":[56,82],"enables":[57],"the":[58,74,87,98],"2D":[61],"convolutional":[62],"neural":[63],"networks.":[64],"result":[66],"is":[67],"pair":[69],"binary":[71],"masks":[72],"showing":[73],"regions":[76],"on":[77,101],"each":[78],"image,":[81],"can":[83],"be":[84],"backprojected":[85],"to":[86],"without":[91],"loss":[92],"information.":[94],"We":[95],"have":[96,107],"evaluated":[97],"proposed":[99],"method":[100],"various":[102],"challenging":[103],"scenarios":[104],"shown":[108],"its":[109],"superiority":[110],"against":[111],"state-of-the-art":[112],"methods.":[115]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
