A method for detecting change in a 3-dimensional - 3D - view, the method comprising: determining a first set of sparse local features from a first set of frames of an initial 3D scene; localizing a current frame of a current 3D scene relative to the initial 3D scene, wherein the current 3D scene occurs at a time later than the initial 3D scene; and determining (520,710,712,715,720) appearance, disappearance, or movement of an object from the initial 3D scene to the current 3D scene based on the first set of sparse local features, characterized in that the method further comprises: determining the first set of sparse local features comprises: determining a set of distinctive frames of the initial 3D scene from a full set of frames for the initial 3D scene; selecting the first set of sparse local features that describe a set of distinctive locations within each frame; tracking a viewpoint of the object within the initial 3D scene using the set of distinctive frames and the first set of sparse local features; and updating a relative camera position for each frame of the set of distinctive frames with respect to preceding frames of the set of distinctive frames based on the tracked viewpoint of the object, the method further comprising determining whether the current 3D scene is different from the initial 3D scene, comprising: dividing the current frame into set of current regions; transforming a first current region of the set of current regions to a viewpoint of the set of distinctive frames of the initial 3D scene using depth information from the current 3D scene; comparing the first current region from the set of current regions to a corresponding region of the set of distinctive frames; and using region comparison to estimate change from the initial 3D scene to the current 3D scene. determining a first set of sparse local features from a first set of frames of an initial 3D scene; localizing a current frame of a current 3D scene relative to the initial 3D scene, wherein the current 3D scene occurs at a time later than the initial 3D scene; and determining (520,710,712,715,720) appearance, disappearance, or movement of an object from the initial 3D scene to the current 3D scene based on the first set of sparse local features, characterized in that the method further comprises: determining the first set of sparse local features comprises: determining a set of distinctive frames of the initial 3D scene from a full set of frames for the initial 3D scene; selecting the first set of sparse local features that describe a set of distinctive locations within each frame; tracking a viewpoint of the object within the initial 3D scene using the set of distinctive frames and the first set of sparse local features; and updating a relative camera position for each frame of the set of distinctive frames with respect to preceding frames of the set of distinctive frames based on the tracked viewpoint of the object, the method further comprising determining whether the current 3D scene is different from the initial 3D scene, comprising: dividing the current frame into set of current regions; transforming a first current region of the set of current regions to a viewpoint of the set of distinctive frames of the initial 3D scene using depth information from the current 3D scene; comparing the first current region from the set of current regions to a corresponding region of the set of distinctive frames; and using region comparison to estimate change from the initial 3D scene to the current 3D scene. determining a set of distinctive frames of the initial 3D scene from a full set of frames for the initial 3D scene; selecting the first set of sparse local features that describe a set of distinctive locations within each frame; tracking a viewpoint of the object within the initial 3D scene using the set of distinctive frames and the first set of sparse local features; and updating a relative camera position for each frame of the set of distinctive frames with respect to preceding frames of the set of distinctive frames based on the tracked viewpoint of the object, the method further comprising determining whether the current 3D scene is different from the initial 3D scene, comprising: dividing the current frame into set of current regions; transforming a first current region of the set of current regions to a viewpoint of the set of distinctive frames of the initial 3D scene using depth information from the current 3D scene; comparing the first current region from the set of current regions to a corresponding region of the set of distinctive frames; and using region comparison to estimate change from the initial 3D scene to the current 3D scene. dividing the current frame into set of current regions; transforming a first current region of the set of current regions to a viewpoint of the set of distinctive frames of the initial 3D scene using depth information from the current 3D scene; comparing the first current region from the set of current regions to a corresponding region of the set of distinctive frames; and using region comparison to estimate change from the initial 3D scene to the current 3D scene.