Patent ID: 8731303

Claim:
A system for estimating a vanishing point within an image, comprising: (a) a processor configured for processing pixels of an image; and (b) programming executable on said processor for performing operations comprising: (i) computing line segment estimation of one or more lines in said image; (ii) wherein one or more of said lines comprise multiple line segments as a single least-mean-square-error (LMSE) fitted line; (iii) representing said one or more lines having multiple line segments as a single least-mean-square-error (LMSE) fitted line; and (iv) intersecting the one or more lines to estimate a vanishing point in a density space; and (v) validating the estimated vanishing point by locating one or more parallel groups of lines in a window around the estimated vanishing point and representing the one or more groups using a single line.