I don't seem to be able to see this here, so here it is: via superuser: How to compare the differences between two PDF files? (answer #229891, by @slestak), there is
https://github.com/vslavik/diff-pdf
(build steps for Ubuntu Natty can be found in get-diff-pdf.sh)
As far as I can see, it basically overlays the text/graphics of each page in the pdf(s), allowing you to easily see if there were any changes...
Cheers!