According to one aspect, a distance determination system for a vehicle includes a monoscopic imager, and a distance determination module in communication with the monoscopic imager and configured to receive vehicle position data. The distance determination module includes a vehicle position determination sub-module configured to determine a first and second position of the vehicle based on the vehicle position data. A feature identification sub-module is configured to capture a first image at the first position using the monoscopic imager, capture a second image at the second position using the monoscopic imager, identify at least one feature in the first image, and identify the at least one feature in the second image. A distance estimation sub-module is configured to determine a difference between the first and second position of the vehicle, identify a difference in position of the at least one feature, and determine an estimated distance.