A survey of the Hough transform
Computer Vision, Graphics, and Image Processing
Use of the Hough transformation to detect lines and curves in pictures
Communications of the ACM
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Many machine vision tasks require that there be an adequate estimate of the vertical direction. Many environments have a relative richness of vertical features, so extracting the favoured direction allows the vertical direction to be estimated. In this paper two different techniques are used to extract the orientation of image features, one based on Fourier transforms, the other on Hough transforms. The two techniques in combination are shown to provide promising estimates of the vertical in a variety of indoor environments.