We present in this article an original manner to estimate the trajectory of a vehicle running in urban-like areas. The method consists in extracting then tracking features (points, lines) with an uncalibrated stereo-rig from the road assumed as a plane to compute homographies relative to the camera(s) motions. The purposed method copes with the dense traffic conditions: the free space required (first ten meters in front of the vehicle) is slightly equivalent to the security distance between two vehicles. Experimental issues from real data are presented and discussed.