In ArcGIS, it is simple to basic change detection between two raster surfaces using the raster calculator.
Here are some excerpts of simple exercises from a change detection seminar I ran at the NSF Sponsored Workshop on "New Tools in Process-Based Analysis of Lidar Topographic Data":

• Using ArcGIS's Raster Calculator to Calculate a DEM of Difference (DoD)
• Using ArcGIS's Raster Calculator to Threshold a DoD
•  Data From Sulphur Creek, CA for Exercises (NOTE: Large file size > 250 MB)
  

For more advanced change detection software and techniques, see GCD Software