1. A method of automatically detecting a constrained parametric curve over a set of one or more images, said method comprising: obtaining a set of one or more binary images of a scene wherein pixels of the binary images are designated as one of an edge pixel or not an edge pixel; processing at least one of the binary images, said processing including: applying a Hough transform to the binary image being processed to generate an accumulator array; determining one or more Hough peaks from the accumulator array; selecting one or more Hough peaks subject to a set of one or more constraints; and determining Hough curve segments for the selected Hough peaks; grouping the Hough curve segments into one or more clusters; selecting from the one or more clusters a cluster having a greatest number of Hough curve segments grouped therein; and fitting a curve to the Hough curve segments grouped in the selected cluster, said fit curve representing the constrained parametric curve being detected.