Embodiments of the invention disclose a system and a method for determining points of parabolic curvature on a surface of a specular object from a set of images of the object is acquired by a camera under a relative motion between a camera-object pair and the environment. The method determines 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. The corresponding pixels having substantially constant the direction of the image gradients are selected as pixels representing points of the parabolic curvature.