1. A method for determining points of parabolic curvature on a surface of an object arranged in an environment, wherein the object is specular, comprising the steps of: obtaining a set of images of the object acquired by a camera under a relative motion between a camera-object pair and the environment; determining directions of image gradients at each pixel of each image in the set of images, wherein pixels from different images corresponding to an identical point on the surface of the object form corresponding pixels; and selecting the corresponding pixels having substantially constant the directions of the image gradients as pixels representing points of the parabolic curvature, wherein the steps of the method are performed by a processor.