“…Vanishing point detection has long been an active research topic in computer vision with many real-world applications such as camera calibration [16], [17], pose estimation [18], [19], [20], height measurement [21], object detection [22], and 3D reconstruction [23], [24]. Since the VPs can be represented by normalized 2D homogeneous coordinates on a Gaussian sphere, early works on VP detection use a Hough transform of the line segments on the Gaussian sphere [25], [26], [27], [28] or a cube map [29].…”