# Traffic Camera Calibration via Vehicle Vanishing Point Detection

arXiv: https://arxiv.org/abs/2103.11438 · HTML: https://mlsanity.com/paper/2103.11438/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 7 of its 20 references that are in the map.
- First posted on arXiv 21 Mar 2021.

## Builds on (most cited first, 7 of 7)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Objects as Points](https://mlsanity.com/paper/1904.07850/) (2019)
- [Stacked Hourglass Networks for Human Pose Estimation](https://mlsanity.com/paper/1603.06937/) (2016)
- [BoxCars: Improving Fine-Grained Recognition of Vehicles using 3-D Bounding Boxes in Traffic Surveillance](https://mlsanity.com/paper/1703.00686/) (2017)
- [Traffic Surveillance Camera Calibration by 3D Model Bounding Box Alignment for Accurate Vehicle Speed Measurement](https://mlsanity.com/paper/1702.06451/) (2017)
- [Comprehensive Data Set for Automatic Single Camera Visual Speed Measurement](https://mlsanity.com/paper/1702.06441/) (2017)

## Built on by (most cited first, 4 of 4)

- [Toward Planet-Wide Traffic Camera Calibration](https://mlsanity.com/paper/2311.04243/) (2023)
- [Vision Technologies with Applications in Traffic Surveillance Systems: A Holistic Survey](https://mlsanity.com/paper/2412.00348/) (2024)
- [MamV2XCalib: V2X-based Target-less Infrastructure Camera Calibration with State Space Model](https://mlsanity.com/paper/2507.23595/) (2025)
- [Efficient Vision-based Vehicle Speed Estimation](https://mlsanity.com/paper/2505.01203/) (2025)

## Abstract (arXiv)

In this paper we propose a traffic surveillance camera calibration method based on detection of pairs of vanishing points associated with vehicles in the traffic surveillance footage. To detect the vanishing points we propose a CNN which outputs heatmaps in which the positions of vanishing points are represented using the diamond space parametrization which enables us to detect vanishing points from the whole infinite projective space. From the detected pairs of vanishing points for multiple vehicles in a scene we establish the scene geometry by estimating the focal length of the camera and the orientation of the road plane. We show that our method achieves competitive results on the BrnoCarPark dataset while having fewer requirements than the current state of the art approach.