A train monitoring system includes an image sensor positioned on a rail vehicle to sense an area in front. The image sensor generates sensor signals. At least one non-transitory computer-readable medium has program instructions that, when executed by at least one processor in communication with the image sensor, causes the at least one processor to: (a) generate static image data based on the sensor signals, the static image data including a line representation of rails located in the area in front of the rail vehicle; (b) determine track occupancy of the rail vehicle by determining the set of rails occupied by the rail vehicle based on the static image data; and (c) determine an upcoming direction of movement of the rail vehicle by determining a direction of the set of rails occupied by the rail vehicle based on the static image data.