In this paper, a method which estimates the trajectory of the vehicle from a single vehicle camera is proposed.
The proposed method is a model based method which assumes that the vehicle is running on a planar road. The
input image is converted to a <i>Top-View</i> image and a matching (registration) between the next <i>Top-View</i> image
is done. The registration is done based on an assumed velocity parameter, and repeated with entire candidate
parameters. In this paper, a simple model and the particle filter is introduced to decrease the computation cost.
Simple model gives a constraint to the registration of the <i>Top-View </i>images, and the particle filter decreases the
number of the candidate parameters. Position of the camera is obtained by accumulating the velocity parameters.
Experiments shows 3 results. Enough decreasement of the computation cost, suitable estimated trajectory and
small enough computation cost to estimate the trajectory of the vehicle.