LB-LSD: A length-based line segment detector for real-time applications

•An adaptive edge detection method is proposed based on edge proportion statistics.•Lines are extracted according to the length condition instead of least square errors.•The initial length control parameter is donated by the Helmholtz principle.•The detection result is a collection of approximated lines connected to one another.•It achieves a better accuracy and outperforms the others in terms of running time.