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A wide range of robotic systems needs to estimate their rotation for diverse tasks like automatic control and stabilization, among many others. In regards of the limitations of traditional navigation equipments (like GPS and inertial sensors), this paper follows a vision approach based on the observation of vanishing points (VPs). Urban environments (outdoor as well as indoor) generally contain orthogonal VPs which constitutes an important constraint to fulfill in order to correctly acquire thedoi:10.1109/iros.2012.6385802 dblp:conf/iros/BazinP12 fatcat:auwgzrcmdramxczsdllwpofppm