1. A method of determining a contour segment for an object in an image captured by a camera, said method comprising: determining a plurality of corner points located on a part of an object in the image; selecting pairs of corner points from the determined corner points; determining a path for at least one of the pairs of corner points, the path connecting the corner points of the at least one pair of corner points along the boundary of the object; and determining the contour segment for the object using the determined path.