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Fig. 1: Change Detection Algorithm: (left) One of 10 reconstructed scene observations. (center) Reconstruction of the static environment after 10 observations. (right) Discovered dynamic objects. Abstract-Robots that are operating for extended periods of time need to be able to deal with changes in their environment and represent them adequately in their maps. In this paper, we present a novel 3D reconstruction algorithm based on an extended Truncated Signed Distance Function (TSDF) thatdoi:10.3929/ethz-b-000189737 fatcat:hhmzduwsvzfypjhd7qzqg74ri4