are the focal points, P is the intersection in 3D space of rays through the correlating features. The camera coordinate system (X,Y,Z) is placed in the middle of the baseline, translated by -height. . . . . . . 21 3-2 Example of Histogram Equalization (a) Source image (b) Histogram

we use the kernel proposed in [9], and for the bags of visual words we use the histogram intersection kernel [10]. For concepts that have a very high number of positive samples, the number of samples has been limited to the key frames of 1,000 shots (randomly sampled), and balanced with the same number of randomly selected negative samples. For ...

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