Dual RANSAC with Rescue Midpoint Multi-Trend Vanishing Point Detection

Vanishing point detection is a fundamental step in computer vision that allows 3D scene understanding and autonomous navigation. Classical techniques have significant challenges when trying to understand scenes that are heavily cluttered and images containing multiple perspective cues, leading to poor or unreliable vanishing point determination. We present a Dual RANSAC with Rescue Midpoint-based Multi-Trend Vanishing Point Detection framework, which targets the simultaneous detection and fine-tuning of multiple, globally consistent vanishing points. The proposed framework introduces a novel Midpoint-based Multi-Trend Random Sample Consensus formulation that operates on line segment midpoints to infer dominant directional groups, thereby eliminating noisy or unstable midpoints and stabilizing subsequent vanishing point inference. The main novelty lies in using line segment midpoints to model the orientation variation as a linear regression in the midpoint–orientation space, which helps reduce sensitivity to endpoint instability. Candidate vanishing points are prioritized through inlier-based confidence ranking and subsequently optimized via an MSAC-based arbiter to resolve hypothesis conflicts and minimize geometric error. We evaluate our work against state-of-the-art techniques such as J-Linkage and Conditional Sample Consensus, over two of the current challenging public datasets that comprise the York Urban Dataset and the Toulouse Vanishing Point Dataset. The results show that the proposed framework achieves a recall of up to 95% and an image success rate of almost 84%, outperforming both J-Linkage and Conditional Sample Consensus, especially under tighter angular thresholds. This demonstrates the ability of the proposed framework to provide enhanced stability and localization accuracy.