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Published in IET Computer Vision
Received on 29th November 2009
Revised on 10th December 2010
doi: 10.1049/iet-cvi.2010.0046

ISSN 1751-9632

Vanishing point detection in corridors: using Hough

transform and K-means clustering
R. Ebrahimpour1,2 R. Rasoolinezhad3 Z. Hajiabolhasani3 M. Ebrahimi3
1
Department of Electrical and Computer Engineering, Brain and Intelligent Systems Research Lab,
Shahid Rajaee Teacher Training University, P.O. Box-16785-163, Tehran, Iran
2
School of Cognitive Sciences (SCS), Institute for Research in Fundamental Sciences (IPM), Niavaran,
P.O. Box-19395-5746, Tehran, Iran
3
Islamic Azad University, South Tehran Branch, No. 3, 9th Nayestan, Pasdaran Avenue, Tehran, Iran
E-mail: ebrahimpour@ipm.ir; rebrahimpour@gmail.com

Abstract: One of the main challenges in steering a vehicle or a robot is the detection of appropriate heading. Many solutions have
been proposed during the past few decades to overcome the difficulties of intelligent navigation platforms. In this study, the
authors try to introduce a new procedure for finding the vanishing point based on the visual information and K-Means
clustering. Unlike other solutions the authors do not need to find the intersection of lines to extract the vanishing point. This
has reduced the complexity and the processing time of our algorithm to a large extent. The authors have imported the
minimum possible information to the Hough space by using only two pixels (the points) of each line (start point and end
point) instead of hundreds of pixels that form a line. This has reduced the mathematical complexity of our algorithm while
maintaining very efficient functioning. The most important and unique characteristic of our algorithm is the usage of
processed data for other important tasks in navigation such as mapping and localisation.

1 Introduction for vanishing point detection are Gaussian sphere, Hough

Under perspective projection, parallel lines in three-
dimensional (3D) space project to converging lines in the
image plane. The common point of intersection is called
vanishing point and may eventually belong to the line at
infinity of the image plane in the case of 3D lines parallel
to the image plane. Even though concurrence in the image
plane does not necessarily imply parallelism in 3D (it only
implies that all 3D lines intersect the line defined by the
focal point and the vanishing point), the counter examples
for this implication are extremely rare in real images, and
the problem of finding parallel lines in 3D is reduced to
finding vanishing points in the image plane. The knowledge
of the vanishing point is an important step towards 3D
interpretation, allowing meaningful information to be
obtained about the real scene (such as depth, object
dimensions etc.). The vanishing point detection in images
plays a leading role in various tasks of artificial vision such
as camera calibration, images rectification, navigation of
autonomous vehicles etc. Using the vanishing point is one
of the most widely used techniques for indoor vision-based
navigation. A lot of parallel lines are present in the
corridors, such as the edges of the side walls with the floor
and the ceiling. Using the vanishing point determined from
these lines, the heading of the robot can be estimated.
Several approaches exist to detect the vanishing points but
generally, they are developed based on the concept of Hough
transform and differ in parameter space. Accumulated spaces
space and image space.
One of the most used Gaussian sphere solutions is raised by
Barnard [1], which raises the use of a Gaussian sphere, others
more they use a Bayesian model. Barnard proposed a
Gaussian sphere as a bounded space into which lines in the
2D image space are projected and, thereby, both the finite
and infinite vanishing points can be detected effectively.
The complexity of Barnard’s algorithm is in the number of
lines processed, whereas the vanishing points are located
only within the boundaries of a histogram bucket. This
makes the approach ill suited for accurately estimating the
true vanishing point location. This drawback can be
overcome by using a more sophisticated hierarchical
apparatus, as inref. [2]. Magee and Aggarwal [3] computed
the intersections of pair’s line segments directly, using
cross-product operations. Later works by Brillault-
O’Mahoney [4] started acknowledging the existence of
errors in image measurements, but reduced this to a method
that was sensitive to line lengths only. Collins and Weiss [5]
declared that vanishing point computation is characterised as
a statistical estimation problem on the unit sphere.
Some authors used Hough space for their job. Tuytelaars
et al. [6] proposed a space bounding technique for the
unbounded parameter space of a cascade Hough transform
to detect the vanishing points and lines. Local descriptors
of the image surface and their distributions are attributes
used in many computer vision applications. Using
additional information measuring their uncertainty, a more

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accurate estimate of their probabilistic distribution can be
modelled. Dahyot [7] illustrated this concept by proposing
two Kernel-based representation of the distribution of the
Hough variables that were more robust than the standard
Hough transform.
In methods based on ‘image space’, the vanishing points
accumulate onto the image space to solve problems of
camera calibration requirements and information loss.
Rother [8] used the image space as an accumulator space to
detect the vanishing point without any information loss.
Clustering has been used to find the vanishing point since
the early 1990s. McLean and Kotturi [9] suggested a method
for the detection of vanishing points based on sub-pixel line
descriptions of thresholds. Having unlimited search space
and points in infinity are important problems in finding
the vanishing points. He et al. [10] found the vanishing
point by clustering on the normalised unit sphere. In
comparison with the Gaussian sphere method, this method
transforms the non-homogeneous space into a normalised
homogeneous space. In the normalised homogeneous space,
finite points and points at infinity are treated equally.
The method we try to develop here is different than in
previous works since we do not estimate the intersection of
lines neither in the image plane nor in the Hough space. It
is less complicated and obtained features can be used for
localisation and mapping purposes. Normally, the
illumination and other harmful visual events hit the
accuracy of the edge detection and tend to poor
understanding of the image. This difficulty is encountered
by reducing the dependency of our algorithm to the
accuracy of the edge detection principle. This happens
because we deal with a set of lines instead of a single line
here. It is not like other solutions that require the exact
location of a line to estimate the intersection point.
This paper includes: a brief description of the main
characteristics of Hough transform (Section 2), our
proposed method (Section 3), experimental results (Section
4) and conclusions and future works (Section 5).
2 Hough transform
There are a variety of segmentation criteria that involve
models at a larger scale. Typically, one wants to decompose
an image or a set of tokens – which could be pixels,
isolated points, sets of edge points etc. – into components
that belong to one or another simple family. For example,
we might want to cluster tokens together because they form
a circle. Finding such groups is often called fitting. We see
fitting as part of the segmentation process, because it uses a
model to produce compact representations that emphasise
the relevant image structures. Generally, fitting involves
determining what possible structures could have given rise
to a set of tokens observed in an image. For example, in
our case, we have a set of edge points (the tokens) and
wish to determine which lines fit them best. The Hough
transform is designed to detect lines, using the parametric
representation of a line
r = x ∗ cos(u) + y ∗ sin(u)
The variable r is the distance from the origin to the line along
a vector perpendicular to the line. u is the angle between
the x-axis and this vector. The Hough transform generates a
parameter space matrix whose rows and columns
correspond to these r and u values, respectively.
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We have used a standard Hough transform (in MATLAB
environment) for our work but there were some other
choices such as fast, hierarchical, cascade, stochastic based
etc. The following papers can provide good information
about the various types of the Hough transform: Hough
[11], Duda and Hart [12], Aggarwal and Karl [13], Bandera
et al. [14], Goldenshluger and Zeevi [15], Kosaka and Kak
[16] and Cheshkov [17].
3 Our proposed method
We decided to develop a navigation theory on the basis of
comparison and monitoring of gathered information from
the side walls. If the robot can draw an approximate model
of the corridor, the planning of the navigation process and
the accuracy of travelling improves considerably. We tried
to model the variation of straight lines in the corridors
using the Hough transform and the K-Means clustering. In
our theory, left clusters represent the left wall and right
clusters represent the right wall and the gap between them
represents the space available for navigation. The theory
will be explained in the following sections. It was soon
recognised that if the robot stands in the centre of the
corridor, the density of non-vertical and non-horizontal
lines is almost shared on the left and right sides of the
image. If we could model the areas with more line
densities, the shape of the corridor including the walls and
the gap between them would be easily distinguishable in
pictures. In order to navigate accurately, we had to choose a
heading correction criterion as well. We decided to use the
vanishing point to correct the heading. This was the
motivation to start working on the vanishing points. Our
goal was to introduce a new and simple procedure for
vanishing point extraction based on the visual information.
We used the same data for the next steps, including
modelling of the environment and forming a strategy for
navigation. In this paper, we present our achievements in
vanishing point estimation. The second part of our
research 2 visual navigation in corridors 2 will be
presented in a separate paper in the near future.
We will introduce our theory step by step and the result of
each step will be shown on a difficult and complex corridor
(Fig. 1). Moving in this corridor is difficult because there
are elevation differences, varying slop, steps, equipments,
unbalanced lighting conditions, changing illumination,
reflecting ground and working personnel. Dealing with each
of these difficulties has been a challenge for the robots
since the beginning.
Fig. 1 Input image
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As a first step, the input image was resized to minimise the
processing time. Change in the illumination conditions is
one of the biggest problems associated with vision-based
techniques. To reduce the effect of this problem, the RGB
image was converted to greyscale and then histogram
equalisation was performed on the greyscale image. This

Fig. 2 Result of applying histogram equalisation on Fig. 1

Fig. 6 Result of Hough line detection based on the results shown

in Figs. 4 and 5
Fig. 3 Result of applying 458 filter on Fig. 2

Fig. 4 Result of applying canny edge detector on Fig. 3

Fig. 7 Result of finding four clusters; blue points, red points,
magenta and yellow points are showing the distribution of data
for each cluster; marker circles is used to indicate the centroid of
each cluster

Fig. 5 Result of applying Hough transform on Fig. 4 is shown here Fig. 8 Final clustering and the indication of vanishing point;
Curves in parameter space are shown in hot colour format. Hough peaks are marker circle shows the vanishing point and the green points are
indicated by green squares showing the location of resulted centroids in Fig. 7

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Fig. 9 Classification of data with even number of clusters

a and b Two clusters are found for the set of data and two triangles are showing the centroid of each cluster. The centroid of final clustering is shown as a circle.
c and d Four clusters are found for the set of data and four triangles are showing the centroid of each cluster. The centroid of final clustering is shown as a circle.

Fig. 10 Experimental results 1

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ensured sufficient contrast within the image, to extract the
required edges (Fig. 2).
We applied the following 458 filter on the resulted image
before performing canny edge detection to decrease
processing time, whereas increasing the accuracy of canny
edge detector by finding only required lines for our
algorithm (Fig. 3). We choose 458 filter because there
always exist 458 lines in all types of corridors (perspective
effect) and it was providing the best possible results in our
experiments.
21 21 2
21 2 21
2 21 21
Since it is very difficult to extract the right edges (edges with
458 orientation) under different conditions, a layered filtering
approach was used, where spurious lines or edges are
eliminated at each level. The Canny edge detector
thresholds were adjusted by hysteresis thresholding (Fig. 4).
Fig. 11 Experimental results 2
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Lines with 458 orientation are very trustable features, apart
from the shape and the size of the corridor (refer Section
4). The standard Hough transform was used to extract the
desired lines from the detected edges. The Hough
transform is normally a time-consuming task. This was the
reason we used 458 filter prior to the edge detection step.
As a result of this matter only a few number of edges have
to be imported to the Hough space which automatically
decreases the processing time. Fig. 5 shows the result of
applying the Hough transform on Fig. 4. Hough peaks are
indicated by green squares. Fig. 8 shows the result of
Hough line detection for Figs. 6 and 7. Yellow lines are
our desired lines.
We had to choose a classification criterion to properly
classify left and right features (the reason will be explained
in the following paragraphs). K-means clustering was
selected for the partitioning method. It partitions data into k
mutually exclusive clusters and returns the index of the
cluster to which it has assigned each observation.
We found that if we only choose the beginning and
ending pixel of each line, instead of importing all pixels
located between them, we can decrease the processing
time of K-means algorithm to almost 10% of the first
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Fig. 12 Experimental results 3
trial. The number of required iterations was also reduced.
For example, in Fig. 6 we needed to have 20 iterations to
reach the well-separated clusters, when using whole pixels
representing the lines. It was then reduced to four
iterations when only the beginning and ending pixels of
each line were used.
We will call the beginning pixel of each line as the ‘start
point’ and the ending pixel of it as the ‘end point’. We
found four clusters for the set of data which included both
start points and end points (Fig. 7). The reason will be
explained later. As shown in Fig. 8, the centroid of
each cluster is used to form a new set of data for final
clustering. We consider the final centroid as the vanishing
point because its location is accurately the same as the
location of the vanishing point in the image. As shown in
Sections 2 and 4 the final centroid has all characteristics of a
vanishing point.
Since we want to model the side walls of the corridor to
navigate safely within the walls while correcting the
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heading by finding the vanishing point, we need to have
even number of clusters as we need at least one cluster
for each wall. Fig. 9 shows the reason for choosing four
clusters for the classification of our dataset which includes
the start points and end points. If we classify the dataset
into two clusters (one for each wall), the result of final
clustering on these centroids (green points) will be as
Figs. 9a and b. The final centroid (marked circle) in Fig. 9a
represents the vanishing point but the same centroid in
Fig. b does not have the characteristics of a vanishing point
since it is not the point in which parallel lines not parallel
to the image plane appear to converge. This shows that
finding two clusters and applying final clustering on them
fails in some cases like the one illustrated in Fig. 9b. Next
we tried an even number of clusters which was four or two
clusters for each wall. The results are shown in Figs. 9c and
d. The resulted centroid is the vanishing point in both
corridors. We have tested this procedure in several corridors
and the results were as strong and accurate as in Fig. 9c and
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d. This is the reason why we found four clusters in our As the heading of the robot changes, the x-coordinate of
algorithm. Experimental results in Section 4 can show the the vanishing point changes. The robot then employs a
effectiveness of this decision accordingly. simple controller to maintain a straight heading for
There is a chance of incorrect estimation of the vanishing the robot. As the robot deviates from its straight
point in cases of severe occlusion or in the presence of line heading, the controller appropriately varies the two
many cluttered objects. Hence, another check was wheel velocities to bring back the robot to its required
performed to check the validity of the vanishing point heading.
estimated. Since the pitch of the camera does not change A brief review of the steps mentioned is shown in the
during the robot motion and the optical axis is following algorithm:
perpendicular to the vertical axis in the world frame, the
vanishing point in the image must always have its Algorithm:
y-coordinate close to half of the image height. By
performing this simple check, the validity of the vanishing 1. Obtain new image
point can be established. 2. Resize the image
When the robot is moving in a straight line within the corridor 3. Convert it from RGB to grey
parallel to the walls, the x-coordinate of the vanishing point 4. Perform the histogram equalisation
within the image is close to the image centre Cx. 5. Apply the 458 mask filter

Fig. 13 Experimental results 4

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6. Apply the canny edge detector
7. Perform the Hough transform
8. Extract the Hough peaks
9. Extract the Hough lines
10. Determine the start points and the end points
11. Apply the K _means clustering on the data set (start
points and end points)
12. Extract four cluster centroids
13. Put these four cluster centroids in a new matrix
14. Apply the K _means clustering
15. Extract one cluster centroid
16. Validate the point
17. Register the vanishing point
18. Correct the heading
Fig. 14 Experimental results 5
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4 Experimental results
In this section, we present some experimental results obtained
from applying the proposed method in real images. One of the
complex images we had is already processed in prior sections.
Generally, in vision applications environmental conditions,
such as illumination, can change the characteristics of the
scene and result in wrong detections. The given examples
in this section are able to overcome many of these
difficulties while maintaining very robust outputs. We have
tested our algorithm on several images and the results were
very promising. One can see the results of some of our
experiments in Figs. 10– 17 in different environments
(corridors). Fig. 18 shows one of our attempts to test the
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Fig. 15 Experimental results 6
algorithm in outdoor environments. According to results
shown in Fig. 18, we need only two clusters to find the
vanishing point for outdoor cases. More work is required to
adapt the algorithm for outdoor cases but presented
experiments in this section show the effectiveness of our
algorithm in corridors.
5 Conclusions and future works
In this paper, we have summarised a new approach for finding
the vanishing point in the corridors. Generally, there are
considerable similarities between the sides of corridors
which could be used by the robot to correct the heading. In
following paragraphs, we try to address some of the major
advantages of our algorithm in comparison with prior works.
Normally, the illumination and other harmful visual events
hit the accuracy of the edge detection and tend to poor
understanding of the image. This difficulty is encountered
by reducing the dependency of our algorithm to the
accuracy of the edge detection principle. This happens
because here we deal with a set of lines instead of a single
line. It is not like other solutions that require the exact
location of a line to estimate the intersection point.
According to our discussion in the introduction section,
almost all existing methods need to find the intersection of
the lines to extract the vanishing point. This has increased
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the robustness of our algorithm even when the accuracy of
canny edge detection is low or the input image is noisy.
Using 458 filter prior to the edge detection step enabled us
to import only a few numbers of edges to the Hough space
which automatically decreases the processing time. The
amount of time saved depends on the number of unwanted
edges (lines with an orientation other than 458) that varies
across pictures and across corridors but generally we can
save more time in more cluttered environments. It is an
important capability for an algorithm to discard useless
information to avoid extra processing.
We used standard Hough transform for our work which is
the simplest type within this family. It is less complicated and
easy to perform. One of the prior works in the field of
vanishing point was the research of Tuytelaars et al. [6] that
used cascade Hough transforms. It required three levels of
Hough transform to find the vanishing point. Some other
researchers have created their own type of Hough
transform like Dahyot [7], who proposed a statistical Hough
transform to find the vanishing point. Some of these new
transforms have better accuracy but generally more
complexity and higher cost than our standard Hough
transform.
We decreased the processing time of K-means algorithm to
almost 10% by choosing the beginning and ending pixel of
each line, instead of importing all pixels located between
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Fig. 16 Experimental results 7
them. The number of required iterations was also reduced. For
example, as we mentioned in earlier sections, we required to
have 20 iterations to reach the well-separated clusters in
Fig. 6, when using whole pixels representing the lines, but
it reduced to 4 iterations when only the beginning and
ending pixels of each line were used. Most of the available
literatures that use clustering for their work have been using
clustering in Hough space or other accumulation spaces but
we performed clustering on the results of Hough transform
(outside of Hough space). Hough transform is a time-
consuming transform and adding some other tasks like
clustering increases the cost of the transform unpleasantly
(moving information from image space to Hough space and
moving to image space again after processing is one of the
reasons). The rate of saving varies from case to case but in
the best condition the algorithm works 20% faster in 10 trials.
In our procedure, external objects in corridors have
minimum effects on the accuracy of vanishing point
location, whereas they normally cause failures in most of
other solutions. This capability is achieved because of the
unique way of feature extraction we choose for our
algorithm. We ignore the general shape of the object and
only resulted 458 lines will be considered. The nature of
clustering that is developed on the basis of minimum
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distance to the number of specified centroids (four in our
case) decreases the effect of these new lines (the lines
caused by an object in the corridor) and helps to find the
location of vanishing point accurately. Please note that it is
the assumption of our procedure to have enough free
space available in the corridor to move (we have
represented a vanishing point detection algorithm and not
an obstacle avoidance procedure). Fig. 16 shows the results
accordingly.
We do not need any a priori information or a calibrated
camera to find the vanishing point. This capability alone is
an important advantage of our algorithm in comparison
with a large number of prior works.
Dynamic changes in environment will not affect the
algorithm until the changes limit the view of the camera
seriously. There is a same story when people exist in the
corridor. The robot can move until it is close to people
which mean the algorithm cannot find the proper lines any
more. It will stop in this situation until the normal condition
is available again. Fig. 17 shows the related results.
In addition to all possible applications of the
vanishing point, as a continuation of this research, we are
currently working on a system that uses real-time
Extended Kalman filter-simultaneously localisation and
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Fig. 17 Experimental results 8

Fig. 18 Experimental result for outdoors

mapping (EKF-SLAM). The robot is equipped with a single principle in corridors. Vanishing point is used for heading
camera as a bearing-only sensor that uses unique feature correction and side clusters (the left and right clusters
detection (resulted clusters in this paper) and mapping which were required to find the vanishing point) are

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Fig. 19 Result of mapping in a corridor
a Robot is moving in a straight corridor
b Robot has reached to a right turn in the corridor
c Robot has reached to a left turn
d Robot has reached to a T-junction
The line ( – – – –) is showing the variation of left centroids
The (— . —) is showing the variation of right centroids
The line (........) is showing the variation of the vanishing point and C is representing the centre of the corridor
(Scales are manipulated for better indication)
employed to perform localisation and mapping. SLAM, in
its naive form, scales quadratically with the number of
landmarks in a map. For real-time implementation, this
scaling is potentially a substantial limitation in the use of
SLAM methods. We are trying to decrease computational
complexity and simplify environment representation by
using different landmark detection and mapping principles.
This can be an alternative solution to rectify the problems
caused by quadratic nature of EKF. Fig. 19 shows the
result of mapping process. SLAM is an extended field of
research in itself and requires enough space and detailed
discussions that is out of our scope. We try to address the
next part of our work in a separate paper in the near
future. Outdoor usage is another challenge waiting to be
managed in future works.
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