EXTRACTION OF VANISHING POINTS FROM IMAGES OF INDOOR AND OUTDOOR SCENES

In this paper, a new method for extracting vanishing points from real images is proposed. This method exhibits a linear computational complexity and has good precision. The linear computational complexity is due to the introduction of polar space, which permits the selection of segments converging on the same vanishing point before the computation of the vanishing point itself. Extensive experimentation on real images shows that vanishing points can be identified and located even in cluttered images, and that the proposed algorithm is suitable for recovering the heading direction of a robot moving in corridors and offices.