An Efficient and Accurate Method for Computing Vanishing Points
Robert T. Collins, Richard G. Weiss · 1989
Under perspective projection, parallel lines in three space project to line segments in the image plane which converge to a common point of intersection (perhaps at infinity) called a vanishing point. There are two basic approaches to computing vanishing points from line segments and thereby estimating the surface gradient of a plane assumed to contain the original 3D lines. We will call these the histogram approach and the cross product approach.