A vehicle movement parameter, such as ego-speed, is estimated using real-time images captured by a single camera. The captured images may be analyzed by a pre-trained convolutional neural network to estimate vehicle movement based on monocular video data. The convolutional neural network may be pre-trained using filters from a synchrony autoencoder that were trained using unlabeled video data captured by the vehicle's camera while the vehicle was in motion. A parameter corresponding to the estimated vehicle movement may be output to the driver or to a driver assistance system for use in controlling the vehicle.