Accurate line parameters from an optimising Hough Transform for vanishing point detection

The authors show that a Hough transform algorithm can give sufficiently accurate estimates of line parameters to accurately locate vanishing points, even when they are several hundred pixels off the image. For this purpose, a 2-D robust kernel is used and the continuity of the accumulator array is exploited to optimize the parameter estimates. The algorithm is described in detail and results are shown on a variety of images, including synthetic images to determine quantitatively the accuracy of the vanishing point location by performing statistical tests