1. A method associated with a camera view of a moving object in a scene, the method comprising: detecting and tracking the moving object over multiple video frames; estimating an orientation of the moving object in each of the video frames; constructing a cost map from the estimated orientations over the multiple video frames for finding a minimum cost path over the cost map; determining regularized orientation estimates of the moving object from the minimum cost path; and locating the vanishing point of the camera view based on an axis of the moving object from the minimum cost path, wherein the axis formed uses the regularized orientation estimates.