A computer-implemented method executed by at least one processor for reducing radial distortion errors in fish-eye images is presented. The method includes capturing an image from a camera including distortions, detecting arc-shaped edge segments in the image including the distortions, estimating a main distortion parameter by fixing a distortion centerpoint in a middle of the image, estimating the distortion centerpoint with the main distortion parameter, and obtaining an undistorted version of the captured image by inverting the distortion model.