1. A method for detecting at least one vanishing point from an image, the method comprising: a dividing step for dividing the image into a plurality of patches; a first detecting step for detecting each patch's local orientations; a composing step for composing lines of pencils based on the local orientations detected in said first detecting step; and a first computing step for computing at least one vanishing point based on the lines of pencils composed in said composing step.