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This paper proposes a camera orientation compensation technique to help compensating unwanted camera orientation so as to accurately estimate the distance of a preceding vehicle in a vehicle driver assistance system. We propose a method in computing a homography to compensate the unwanted camera orientation misalignment. Distance between the preceding vehicle and the digital camera can then be accurately estimated. We will demonstrate that this approach be most suitable for vehicle driver assistance systems, and it also further expands the extent of automobile safety.