GOLDILOCS: GENERAL OBJECT-LEVEL DETECTION AND LABELING OF CHANGES IN SCENES

We propose GOLDILOCS: a novel zero-shot, pose-agnostic method for object-level semantic change detection in the wild. While supervised Scene Change Detection (SCD) methods achieve impressive results on curated datasets, these models do not generalize and performance drops on out-of-domain data. Recent Zero-Shot SCD methods introduced a more robust approach with foundational models as backbone, yet they neglect the 3D aspect of the task and remain constrained to the image-pair setting. Conversely, 3D-centric SCD methods based on 3D Gaussian Splatting (3DGS) or NeRFs require multi-view inputs, but cannot operate on an image pair. Our key insight is that SCD can be reformulated as a 3D reconstruction problem over time, where geometric inconsistencies naturally indicate change. Although previous work considered viewpoint difference a challenge, we recognize the additional geometric information as an advantage. GOLDILOCS uses dense stereo reconstruction to estimate camera parameters and generate a pointmap of the commonalities between input images by filtering geometric inconsistencies. Rendering the canonical scene representation from multiple viewpoints yields reference images that exclude changed or occluded content. Rigid object changes are then detected through mask tracking, while nonrigid transformations are identified using SSIM heatmaps. We evaluate our method on a variety of datasets, covering both pairwise and multi-view cases in binary and multi-class settings, and demonstrate superior performance over prior work, including supervised methods.