{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,15]],"date-time":"2026-04-15T18:10:07Z","timestamp":1776276607517,"version":"3.50.1"},"reference-count":41,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2015,9,7]],"date-time":"2015-09-07T00:00:00Z","timestamp":1441584000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J Comput Vis"],"published-print":{"date-parts":[[2016,4]]},"DOI":"10.1007\/s11263-015-0854-5","type":"journal-article","created":{"date-parts":[[2015,9,7]],"date-time":"2015-09-07T04:40:19Z","timestamp":1441600819000},"page":"111-130","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":45,"title":["Vanishing Point Estimation and Line Classification in a Manhattan World with a Unifying Camera Model"],"prefix":"10.1007","volume":"117","author":[{"given":"Lilian","family":"Zhang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huimin","family":"Lu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaoping","family":"Hu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Reinhard","family":"Koch","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2015,9,7]]},"reference":[{"key":"854_CR1","unstructured":"Aguilera, D. G., Lahoz, J. G., & Codes, J. F. (2005). A new method for vanishing points detection in 3d reconstruction from a single view. In ISPRS."},{"key":"854_CR2","doi-asserted-by":"crossref","unstructured":"Baker, S., & Nayar, S. (1998). A theory of catadioptric image formation. In ICCV (pp. 35\u201342).","DOI":"10.1109\/ICCV.1998.710698"},{"issue":"8","key":"854_CR3","doi-asserted-by":"crossref","first-page":"1327","DOI":"10.1109\/TPAMI.2005.163","volume":"27","author":"J Barreto","year":"2005","unstructured":"Barreto, J., & Araujo, H. (2005). Geometric properties of central catadioptric line images and their application in calibration. TPAMI, 27(8), 1327\u20131333.","journal-title":"TPAMI"},{"key":"854_CR4","doi-asserted-by":"crossref","unstructured":"Bazin, J. C., & Pollefeys, M. (2012). 3-line RANSAC for orthogonal vanishing point detection. In IROS (pp. 4282\u20134287).","DOI":"10.1109\/IROS.2012.6385802"},{"issue":"2","key":"854_CR5","first-page":"254","volume":"114","author":"JC Bazin","year":"2010","unstructured":"Bazin, J. C., Demonceaux, C., Vasseur, P., & Kweon, I. S. (2010). Motion estimation by decoupling rotation and translation in catadioptric vision. CVIU, 114(2), 254\u2013273.","journal-title":"CVIU"},{"issue":"1","key":"854_CR6","first-page":"63","volume":"31","author":"JC Bazin","year":"2012","unstructured":"Bazin, J. C., Demonceaux, C., Vasseur, P., & Kweon, I. (2012a). Rotation estimation and vanishing point extraction by omnidirectional vision in urban environment. IJRR, 31(1), 63\u201381.","journal-title":"IJRR"},{"key":"854_CR7","doi-asserted-by":"crossref","unstructured":"Bazin, J. C., Seo, Y., & Pollefeys, M. (2012b). Globally optimal line clustering and vanishing point estimation in manhattan world. In CVPR.","DOI":"10.1109\/CVPR.2012.6247731"},{"issue":"4","key":"854_CR8","doi-asserted-by":"crossref","first-page":"353","DOI":"10.1007\/s10514-009-9156-5","volume":"27","author":"S Ceriani","year":"2009","unstructured":"Ceriani, S., Fontana, G., Giusti, A., Marzorati, D., Matteucci, M., Migliore, D., et al. (2009). Rawseeds ground truth collection systems for indoor self-localization and mapping. Autonomous Robots, 27(4), 353\u2013371.","journal-title":"Autonomous Robots"},{"key":"854_CR9","doi-asserted-by":"crossref","first-page":"530","DOI":"10.1109\/34.87340","volume":"13","author":"H Chen","year":"1991","unstructured":"Chen, H. (1991). Pose determination from line-to-plane correspondences: Existence condition and closed-form solutions. TPAMI, 13, 530\u2013541.","journal-title":"TPAMI"},{"key":"854_CR10","unstructured":"Cipolla, R., Drummond, T., & Robertson, D. (1999). Camera calibration from vanishing points in images of architectural scenes. In BMVC (pp. 382\u2013392)."},{"key":"854_CR11","doi-asserted-by":"crossref","unstructured":"Coughlan, J. M., & Yuille, A. L. (1999). Manhattan world: Compass direction from a single image by bayesian inference. In ICCV (pp. 941\u2013947).","DOI":"10.1109\/ICCV.1999.790349"},{"issue":"5","key":"854_CR12","doi-asserted-by":"crossref","first-page":"1063","DOI":"10.1162\/089976603765202668","volume":"15","author":"JM Coughlan","year":"2003","unstructured":"Coughlan, J. M., & Yuille, A. L. (2003). Manhattan world: Orientation and outlier detection by bayesian inference. Neural Computation, 15(5), 1063\u20131088.","journal-title":"Neural Computation"},{"key":"854_CR13","doi-asserted-by":"crossref","unstructured":"Denis, P., Elder, J. H., & Estrada, F. J. (2008). Efficient edge-based methods for estimating manhattan frames in urban imagery. In ECCV (pp. 197\u2013210).","DOI":"10.1007\/978-3-540-88688-4_15"},{"key":"854_CR14","doi-asserted-by":"crossref","unstructured":"Flint, A., Mei, C., Reid, I., & Murray, D. (2010). Growing semantically meaningful models for visual slam. In CVPR (pp. 467\u2013474).","DOI":"10.1109\/CVPR.2010.5540176"},{"key":"854_CR15","unstructured":"F\u00f6rstner, W. (2010). Optimal vanishing point detection and rotation estimation of single images of a legolandscene. In ISPRS."},{"issue":"7","key":"854_CR16","doi-asserted-by":"crossref","first-page":"1527","DOI":"10.1016\/S0031-3203(01)00128-5","volume":"35","author":"AC Gallagher","year":"2002","unstructured":"Gallagher, A. C. (2002). A ground truth based vanishing point detection algorithm. Pattern Recognition, 35(7), 1527\u20131543.","journal-title":"Pattern Recognition"},{"key":"854_CR17","doi-asserted-by":"crossref","first-page":"223","DOI":"10.1023\/A:1013610201135","volume":"45","author":"C Geyer","year":"2001","unstructured":"Geyer, C., & Daniilidis, K. (2001). Catadioptric projective geometry. IJCV, 45, 223\u2013243.","journal-title":"IJCV"},{"issue":"1","key":"854_CR18","doi-asserted-by":"crossref","first-page":"64","DOI":"10.1007\/s11263-008-0186-9","volume":"82","author":"RI Hartley","year":"2009","unstructured":"Hartley, R. I., & Kahl, F. (2009). Global optimization through rotation space search. IJCV, 82(1), 64\u201379.","journal-title":"IJCV"},{"key":"854_CR19","doi-asserted-by":"crossref","DOI":"10.1017\/CBO9780511811685","volume-title":"Multiple view geometry in computer vision","author":"R Hartley","year":"2004","unstructured":"Hartley, R., & Zisserman, A. (2004). Multiple view geometry in computer vision (2nd ed.). Cambridge: Cambridge University Press.","edition":"2"},{"key":"854_CR20","doi-asserted-by":"crossref","unstructured":"Kessler, C., Ascher, C., Frietsch, N., Weinmann, M., & Trommer, G. (2010). Vision-based attitude estimation for indoor navigation using vanishing points and lines. In PLANS (pp. 310\u2013318).","DOI":"10.1109\/PLANS.2010.5507247"},{"key":"854_CR21","doi-asserted-by":"crossref","unstructured":"Kosecka, J., & Zhang, W. (2002) Video compass. In ECCV (pp. 657\u2013673).","DOI":"10.1007\/3-540-47979-1_32"},{"key":"854_CR22","doi-asserted-by":"crossref","unstructured":"Lee, D. C., Hebert, M., & Kanade, T. (2009). Geometric reasoning for single image structure recovery. In CVPR (pp. 2136\u20132143).","DOI":"10.1109\/CVPR.2009.5206872"},{"key":"854_CR23","unstructured":"Liebowitz, D. (2001). Camera calibration and reconstruction of geometry from images. PhD thesis, Department Engineering Science, University of Oxford."},{"key":"854_CR24","doi-asserted-by":"crossref","unstructured":"Liebowitz, D., & Zisserman, A. (1998). Metric rectification for perspective images of planes. In CVPR (pp. 482\u2013488).","DOI":"10.1109\/CVPR.1998.698649"},{"issue":"4","key":"854_CR25","doi-asserted-by":"crossref","first-page":"430","DOI":"10.1109\/34.277598","volume":"16","author":"E Lutton","year":"1994","unstructured":"Lutton, E., Maitre, H., & Lopez-Krahe, J. (1994). Contribution to the determination of vanishing points using hough transform. TPAMI, 16(4), 430\u2013438.","journal-title":"TPAMI"},{"key":"854_CR26","unstructured":"Mei, C. (2007). Laser-augmented omnidirectional vision for 3D localisation and mapping. PhD thesis, INRIA Sophia Antipolis, Project-team ARobAS."},{"key":"854_CR27","doi-asserted-by":"crossref","unstructured":"Mirzaei, F. M., & Roumeliotis, S. I. (2011). Optimal estimation of vanishing points in a manhattan world. In ICCV (pp. 2454\u20132461).","DOI":"10.1109\/ICCV.2011.6126530"},{"issue":"14","key":"854_CR28","doi-asserted-by":"crossref","first-page":"1691","DOI":"10.1016\/j.patrec.2011.07.018","volume":"32","author":"M Nieto","year":"2011","unstructured":"Nieto, M., & Salgado, L. (2011). Simultaneous estimation of vanishing points and their converging lines using the em algorithm. Pattern Recognition Letters, 32(14), 1691\u20131700.","journal-title":"Pattern Recognition Letters"},{"key":"854_CR29","volume-title":"Numerical optimization","author":"J Nocedal","year":"2006","unstructured":"Nocedal, J., & Wright, S. J. (2006). Numerical optimization (2nd ed.). New York: Springer.","edition":"2"},{"issue":"5","key":"854_CR30","first-page":"588","volume":"28","author":"A Pronobis","year":"2009","unstructured":"Pronobis, A., & Caputo, B. (2009). Cold: The cosy localization database. IJRR, Special Issue on Robotic Vision, 28(5), 588\u2013594.","journal-title":"IJRR, Special Issue on Robotic Vision"},{"key":"854_CR31","unstructured":"Rother, C. (2000). A new approach for vanishing point detection in architectural environments. In BMVC (pp. 382\u2013391)."},{"key":"854_CR32","doi-asserted-by":"crossref","unstructured":"Schindler, G., & Dellaert, F. (2004). Atlanta world: An expectation maximization framework for simultaneous low-level edge grouping and camera calibration in complex man-made environments. In CVPR (pp. 203\u2013209).","DOI":"10.1109\/CVPR.2004.1315033"},{"key":"854_CR33","doi-asserted-by":"crossref","unstructured":"Tardif, J. P. (2009). Non-iterative approach for fast and accurate vanishing point detection. In ICCV (pp. 1250\u20131257).","DOI":"10.1109\/ICCV.2009.5459328"},{"key":"854_CR34","doi-asserted-by":"crossref","unstructured":"Tretyak, E., Barinova, O., Kohli, P., & Lempitsky, V. (2012). Geometric image parsing in man-made environments. IJCV, 97, 305\u2013321.","DOI":"10.1007\/s11263-011-0488-1"},{"key":"854_CR35","doi-asserted-by":"crossref","unstructured":"Tuytelaars, T., Van Gool L., Proesmans, M., & Moons, T. (1998) The cascaded hough transform as an aid in aerial image interpretation. In ICCV (pp. 67\u201372).","DOI":"10.1109\/ICCV.1998.710702"},{"key":"854_CR36","doi-asserted-by":"crossref","first-page":"722","DOI":"10.1109\/TPAMI.2008.300","volume":"32","author":"RG Gioi von","year":"2010","unstructured":"von Gioi, R. G., Jakubowicz, J., Morel, J. M., & Randall, G. (2010). Lsd: A fast line segment detector with a false detection control. TPAMI, 32, 722\u2013732.","journal-title":"TPAMI"},{"key":"854_CR37","doi-asserted-by":"crossref","unstructured":"Wan, G., & Li, S. (2011). Automatic facades segmentation using detected lines and vanishing points. In CISP (pp. 1214\u20131217).","DOI":"10.1109\/CISP.2011.6100448"},{"key":"854_CR38","doi-asserted-by":"crossref","unstructured":"Wildenauer, H., & Hanbury, A. (2012). Robust camera self-calibration from monocular images of manhattan worlds. In CVPR (pp. 2831\u20132838).","DOI":"10.1109\/CVPR.2012.6248008"},{"key":"854_CR39","doi-asserted-by":"crossref","unstructured":"Wildenauer, H., & Vincze, M. (2007). Vanishing point detection in complex man-made worlds. In ICIAP (pp. 615\u2013622).","DOI":"10.1109\/ICIAP.2007.4362845"},{"key":"854_CR40","doi-asserted-by":"crossref","unstructured":"Zhang, L., & Koch, R. (2011). Hand-held monocular slam based on line segments. In IMVIP (pp. 8\u201315).","DOI":"10.1109\/IMVIP.2011.11"},{"key":"854_CR41","unstructured":"Zhang, L., & Koch, R. (2012). Vanishing points estimation and line classification in a manhattan world. In ACCV, Part II (pp. 38\u201345)."}],"container-title":["International Journal of Computer Vision"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11263-015-0854-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11263-015-0854-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11263-015-0854-5","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,30]],"date-time":"2019-08-30T06:52:21Z","timestamp":1567147941000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11263-015-0854-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,9,7]]},"references-count":41,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2016,4]]}},"alternative-id":["854"],"URL":"https:\/\/doi.org\/10.1007\/s11263-015-0854-5","relation":{},"ISSN":["0920-5691","1573-1405"],"issn-type":[{"value":"0920-5691","type":"print"},{"value":"1573-1405","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,9,7]]}}}