Extracting parallel lines in images is an
important step for many robotic tasks, such as road
extraction, camera calibration, 3D reconstruction,
etc… Moreover, nowadays, most of robots use
catadioptric cameras since they provide a much wider
field of view compared to traditional perspective
cameras. Therefore, in this paper, we aim to develop
an algorithm which automatically extracts parallel
lines in single catadioptric images. We also provide
many details concerning implementation issues so
that our method can be easily used by researchers
from different departments.