1. A method of detecting one or more lines in an image comprising: selecting a primary data item from feature points in an image space, the feature points defining one-dimensional P-lines in a corresponding parameter space; mapping the P-line of the primary data item with a one-dimensional voting array in the parameter space; locating one or more intersections between the P-line corresponding to each primary data item and P-lines corresponding to the other feature points; and establishing an I-line in the image space corresponding to a location in the parameter space where the intersections substantially converge.