Systems and methods are disclosed for estimating a vanishing point within an image, including: programming executable on a processor for computing line segment estimation of one or more lines in an image, wherein one or more of the lines is made up of multiple line segments as a single least-mean-square-error (LMSE) fitted line. Additionally, the one or more lines having multiple line segments are represented as a single least-mean-square-error (LMSE) fitted line, and the one or more lines are intersected to locate a vanishing point in a density space.