A system includes a camera configured to generate two-dimensional (2D) image or video data of an area of a route ahead of a vehicle moving along the route, wherein wayside equipment is disposed alongside the route in the 2D image or video data. The system also includes one or more processors configured to determine a distance between reference markings in the route along a direction that is transverse to a direction of travel of the vehicle along the route. The one or more processors also are configured to determine a separation distance between the camera and the wayside equipment based on the distance between the reference markings in the route.