…...=a5;9 b9hkcf? k=h< ;cc8 65g9@=b9g dfcj=8=b; acf9 df97=g9 f9gi@hg 6ih 69=b; acf9...

6
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he International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XLII-2/W15, 2019 27th CIPA International Symposium “Documenting the past for a better future”, 1–5 September 2019, Ávila, Spain This contribution has been peer-reviewed. https://doi.org/10.5194/isprs-archives-XLII-2-W15-1157-2019 | © Authors 2019. CC BY 4.0 License. 1157

Upload: others

Post on 23-Aug-2020

0 views

Category:

Documents


0 download

TRANSCRIPT

Page 1: …...=A5;9 B9HKCF? K=H< ;CC8 65G9@=B9G DFCJ=8=B; ACF9 DF97=G9 F9GI@HG 6IH 69=B; ACF9 7CADIH5H=CB5@@M 9LD9BG=J9 ,

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XLII-2/W15, 2019 27th CIPA International Symposium “Documenting the past for a better future”, 1–5 September 2019, Ávila, Spain

This contribution has been peer-reviewed. https://doi.org/10.5194/isprs-archives-XLII-2-W15-1157-2019 | © Authors 2019. CC BY 4.0 License. 1157

Page 2: …...=A5;9 B9HKCF? K=H< ;CC8 65G9@=B9G DFCJ=8=B; ACF9 DF97=G9 F9GI@HG 6IH 69=B; ACF9 7CADIH5H=CB5@@M 9LD9BG=J9 ,

•••

••

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XLII-2/W15, 2019 27th CIPA International Symposium “Documenting the past for a better future”, 1–5 September 2019, Ávila, Spain

This contribution has been peer-reviewed. https://doi.org/10.5194/isprs-archives-XLII-2-W15-1157-2019 | © Authors 2019. CC BY 4.0 License. 1158

Page 3: …...=A5;9 B9HKCF? K=H< ;CC8 65G9@=B9G DFCJ=8=B; ACF9 DF97=G9 F9GI@HG 6IH 69=B; ACF9 7CADIH5H=CB5@@M 9LD9BG=J9 ,

keyframes = []

PROCEDURE TimeSelection(video, time) FOR frame in video

IF time(frame) mod time == 0 keyframes.add(frame)

PROCEDURE 2DSelection(video, newnessTh) poolOfDesc = [] FOR frame in video

IF isBlurred(frame) CONTINUE frameDesc = computeORB(frame) IF match(poolOfDesc, frameDesc) > newnessTh

keyframes.add(frame) poolOfDesc.add(frameDesc)

PROCEDURE 3DSelection (video) selectedKeyframes, pointCloud = ORBSLAM(video) FOR keyframe in selectedKeyframes

keyframes.add(keyframe)

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XLII-2/W15, 2019 27th CIPA International Symposium “Documenting the past for a better future”, 1–5 September 2019, Ávila, Spain

This contribution has been peer-reviewed. https://doi.org/10.5194/isprs-archives-XLII-2-W15-1157-2019 | © Authors 2019. CC BY 4.0 License. 1159

Page 4: …...=A5;9 B9HKCF? K=H< ;CC8 65G9@=B9G DFCJ=8=B; ACF9 DF97=G9 F9GI@HG 6IH 69=B; ACF9 7CADIH5H=CB5@@M 9LD9BG=J9 ,

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XLII-2/W15, 2019 27th CIPA International Symposium “Documenting the past for a better future”, 1–5 September 2019, Ávila, Spain

This contribution has been peer-reviewed. https://doi.org/10.5194/isprs-archives-XLII-2-W15-1157-2019 | © Authors 2019. CC BY 4.0 License. 1160

Page 5: …...=A5;9 B9HKCF? K=H< ;CC8 65G9@=B9G DFCJ=8=B; ACF9 DF97=G9 F9GI@HG 6IH 69=B; ACF9 7CADIH5H=CB5@@M 9LD9BG=J9 ,

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XLII-2/W15, 2019 27th CIPA International Symposium “Documenting the past for a better future”, 1–5 September 2019, Ávila, Spain

This contribution has been peer-reviewed. https://doi.org/10.5194/isprs-archives-XLII-2-W15-1157-2019 | © Authors 2019. CC BY 4.0 License. 1161

Page 6: …...=A5;9 B9HKCF? K=H< ;CC8 65G9@=B9G DFCJ=8=B; ACF9 DF97=G9 F9GI@HG 6IH 69=B; ACF9 7CADIH5H=CB5@@M 9LD9BG=J9 ,

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XLII-2/W15, 2019 27th CIPA International Symposium “Documenting the past for a better future”, 1–5 September 2019, Ávila, Spain

This contribution has been peer-reviewed. https://doi.org/10.5194/isprs-archives-XLII-2-W15-1157-2019 | © Authors 2019. CC BY 4.0 License. 1162