Optimal Estimation of Vanishing Points in a Manhattan World

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Optimal Estimation of Vanishing Points in a Manhattan World
In this paper, we present an analytical method for computing the globally optimal estimates of orthogonal vanishing points in a “Manhattan world” with a calibrated camera. We formulate this problem as constrained least-squares whose optimality conditions form a multivariate polynomial system. We solve this system analytically to compute all the critical points of the least-squares cost, and hence the global minimum, i.e., the globally optimal estimate for the orthogonal vanishing points. The same optimal estimator is used in conjunction with RANSAC to generate orthogonalvanishing-point hypotheses (from triplets of lines) and thus classify lines into parallel and mutually orthogonal groups. The proposed method is validated experimentally on the York Urban Database.
Faraz Mirzaei, Stergios Roumeliotis
Added 11 Dec 2011
Updated 11 Dec 2011
Type Journal
Year 2011
Where ICCV
Authors Faraz Mirzaei, Stergios Roumeliotis
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