Abstract: A system and method for determining a viewpoint of a traffic camera includes obtaining images of a real road captured by the traffic camera, segmenting a road surface from the captured images to generate a mask of the real road, generating a 3D model of a simulated road corresponding to the real road, from geographical data of the real road, adding a simulated camera corresponding to the traffic camera to a location in the 3D model that is corresponding to a location of the traffic camera in the real road, generating a plurality of simulated images of the simulated road using the 3D model, each corresponding to a set of viewpoint parameters of the simulated traffic camera, selecting the simulated image that provides the best fit between the simulated image and the mask, and generating mapping between pixel locations in the captured images and locations on the real road.