Tracking orthogonal vanishing points in video sequences for a reliable camera orientation in Manhattan World

This paper proposes an algorithm pipeline for estimating the camera orientation based on vanishing points computation targeting pedestrian navigation assistance in Manhattan World. Inspired from some of published methods, the proposed pipeline introduces a novel sampling strategy among finite and infinite vanishing points and a tracking along a video sequence to enforce the robustness by extracting the three most pertinent orthogonal directions while preserving a short processing time for real-time application. Experiments on real images and video sequences show that the proposed heuristic strategy for selecting orthogonal vanishing points is pertinent as our algorithm gives better results than the recently published RNS optimal method [16], in particular for the yaw angle, which is actually essential for navigation task.