Abstract: A method (600) for obtaining information about a structure (101) using a drone (102) equipped with a sensor system (103). The method includes, during a first period of time and while the drone's sensor system is pointing towards the structure, using (s602) the sensor system to obtain first depth data. The method also includes obtaining (s604) a first height value, Z1, indicating or being based on the height of the drone above a bottom point of the structure during the first period of time. The method also includes using (s606) the first depth data to determine a first vertical coordinate representing a top point of the structure. The method further includes estimating (s608) a height of the structure, wherein estimating the height of the structure comprises using the first vertical coordinate and the first height value, Z1, to estimate the height of the structure.

Abstract: A method (1200) for producing a reduced point cloud comprising an object of interest (OOI) from an original point cloud comprising the OOI.

Abstract: A method performed by a computer device is configured to generate a three dimensional, 3D, model, the method including obtaining a plurality of two dimensional, 2D, images, the plurality of 2D images, each depicting a 3D object and a background of the 3D object from a different viewing direction, wherein the plurality of 2D images are obtained using a camera, generating a total set of key points for each of the plurality of 2D images, discriminating (530) each total set of key points into a first subset of key points depicting the 3D object and a second subset of key points.