We detail a sensing method used as a redundant sensor in automated vehicles. A monocular camera can be used to determine the bearing to a target, and this work extends the sensor capabilities to estimate the distance to the target. For a 640×400 pixel camera, the distance estimation has a 3m sensing range. A modified pure pursuit algorithm is presented which allows vehicle following at close proximity. The design of the experimental platform is described. The sensor system was utilized to enable a 1/10 scale vehicle to follow another vehicle at 3ms^-1.