Robert T. Collins and Richard Weiss,
"Vanishing Point Calculation as a Statistical Inference on the Unit Sphere,"
International Conference on Computer Vision,
Osaka, Japan, December 1990, pp. 400-403.
In this paper vanishing point computation is characterized as a
statistical estimation problem on the unit sphere; in particular
as the estimation of the polar axis of an equatorial distribution.
This framework facilitates the construction of confidence regions
for 3D line orientation.
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