In this paper, a method which estimates the trajectory of the vehicle from a single vehicle camera is proposed. The proposed method is a model based method which assumes that the vehicle is running on a planar road. The input image is converted to a Top- View image and a matching (registration) between the next Top- View image is done. The registration is done based on an assumed velocity parameter, and repeated with entire candidate parameters. In this paper, a simple model and the particle filter is introduced to decrease the computation cost. Simple model gives a constraint to the registration of the Top-View images, and the particle filter decreases the number of the candidate parameters. Position of the camera is obtained by accumulating the velocity parameters. Experiments shows 3 results. Enough decreasement of the computation cost, suitable estimated trajectory and small enough computation cost to estimate the trajectory of the vehicle.