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This paper presents a robust real-time rear-view camera-based parking guidance algorithm capable of parking a host vehicle, utilizing a single car-mounted rear-view fish-eye camera. A distortion correction algorithm was developed to correct for fish-eye distortion. A static and dynamic overlay algorithm was developed to show the vehicle path with marked distances as the vehicle is turning during reverse. A parallel parking algorithm was developed to identify whether the available parking area is sufficient for the host vehicle. The algorithm decides the start point for parking and safely steers the host vehicle parallel to the road and in between two other parked vehicle. An angle parking algorithm was developed to identify whether the available parking area is sufficient for the host vehicle. This algorithm decides the start point for parking and steers the host vehicle between two other parked vehicles at the same angle.