The invention relates to a method for homography estimation by using a public autopolar triangle of a spherical image, which comprises the following steps of: taking a sphere in space as a target, shooting two images of the sphere in the space from different positions under a parabolic catadioptric system, and fitting a mirror surface contour projection equation, a target projection equation and an antipodal sphere image equation; Secondly, respectively calculating a characteristic value and a characteristic vector of a matrix formed by the spherical image and the antipodal spherical image inthe two images; then, by matching characteristic values, three pairs of line correspondence are obtained, and the three pairs of line correspondence are three pairs of corresponding edges of the public self-polar triangle; then, connecting the intersection points of the public self-polar triangle and the quadratic curve to obtain a fourth pair of line correspondence which is correspondingly positioned in the public self-polar triangle; and finally, the four pairs of lines are correspondingly subjected to SVD decomposition to obtain a homography matrix.