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In this paper, we present a novel scene change detection algorithm for mobile camera platforms. Our approach integrates sparse 3D scene background modelling and dense 2D image background modelling into a unified framework. The 3D scene background modelling identifies inconsistent clusters over time in a set of 3D cloud points as the scene changes. The 2D image background modelling further confirms the scene changes by finding inconsistent appearances in a set of aligned images using the classical MRF background subtraction technique. We evaluate the performance of our proposed system on a number of challenging video datasets obtained from a camera placed on a moving vehicle and the experiments show that our proposed method outperforms previous works in scene change detection, which suggested the feasibility of our approach.