A method includes acquiring at least one image with at least one camera associated with at least one mobile robot; and extracting a plurality of straight lines from the at least one image; creating at least one dataset comprising data related to the plurality of straight lines extracted from the at least one image; forming a plurality of hypotheses for a walkway boundary based on the at least one dataset and determining at least one hypothesis with the highest likelihood of representing a walkway boundary; and using the at least one hypothesis to adjust a direction and/or speed of motion of the at least one mobile robot.