The invention provides a robust
vanishing point detection method and device based on a response diagram and clustering. The method comprises the following steps: obtaining an original image, and preprocessing the original image to obtain a preprocessed image; detecting the preprocessed image through an LSD
line segment detection
algorithm to obtain information of effective line segments, filtering the effective line segments according to the information to obtain roughing line segments, and performing
primary clustering on the roughing line segments to obtain clustered roughing line segments as alternative line segments; calculating a
confidence value of each type in the alternative line segments, and obtaining two types of line segments used for calculating vanishing points according to the confidence values and a
total response value of the type; and creating a response graph by using the original image,
processing the two types of line segments used for calculating the vanishing points, drawing the processed line segments on the response graph, and obtaining the vanishing points according to the drawn response graph. According to the method, the robustness and accuracy of the
algorithm are improved through multiple clustering means, the strength and confidence coefficient functions of the line segments are defined, a large amount of interference is eliminated, the calculated amount is reduced, the detection efficiency and speed are improved, and the robustness is high.