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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