A system, apparatus and method of embedded ego vehicle speed estimation apparatus, including a car-mounted monocular camera for capturing a sequence of video frames of an outdoor scene from a moving car, where the outdoor scene includes a road, as a camera channel, and processing circuitry. The processing circuitry is configured with a single-shot network and a 3D convolutional neural network (3D-CNN), the single-shot network segments features of the road in the video frame sequence and generates a masked-attention map for the segmented road features, a concatenation circuit concatenates the masked-attention map as an additional channel to the camera channel to generate a masked-attention input, and the 3D-CNN network receives the masked-attention input and generates an estimated speed of the ego vehicle based on displacement of the segmented road features in the video sequences.