Orientation Based on Vanishing Points

In one implementation, a method of determining a downward direction is performed by a device including one or more processors, non-transitory memory, and an image sensor. The method includes capturing, using the image sensor, an image of a physical environment. The method includes detecting a plurality of lines within the image of the physical environment. The method includes determining one or more vanishing directions based on the plurality of lines. The method includes defining a downward direction based on the one or more vanishing directions.