Vanishing Point and Vanishing Line Estimation with Line Clustering

Akihiro MINAGAWA  Norio TAGAWA  Tadashi MORIYA  Toshiyuki GOTOH  

IEICE TRANSACTIONS on Information and Systems   Vol.E83-D   No.7   pp.1574-1582
Publication Date: 2000/07/25
Online ISSN: 
Print ISSN: 0916-8532
Type of Manuscript: PAPER
Category: Image Processing, Image Pattern Recognition
vanishing point and vanishing line,  ML (maximum likelihood) estimation,  Gaussian mixture density model,  EM algorithm,  

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In conventional methods for detecting vanishing points and vanishing lines, the observed feature points are clustered into collections that represent different lines. The multiple lines are then detected and the vanishing points are detected as points of intersection of the lines. The vanishing line is then detected based on the points of intersection. However, for the purpose of optimization, these processes should be integrated and be achieved simultaneously. In the present paper, we assume that the observed noise model for the feature points is a two-dimensional Gaussian mixture and define the likelihood function, including obvious vanishing points and a vanishing line parameters. As a result, the above described simultaneous detection can be formulated as a maximum likelihood estimation problem. In addition, an iterative computation method for achieving this estimation is proposed based on the EM (Expectation Maximization) algorithm. The proposed method involves new techniques by which stable convergence is achieved and computational cost is reduced. The effectiveness of the proposed method that includes these techniques can be confirmed by computer simulations and real images.