A system, comprising: a set of sensors on a vehicle having the first end and a second end , the sensors of the set of sensors each being configured to generate corresponding sensor data based on a detected marker of a plurality of markers (120a-120n) along a direction of movement of the vehicle, a first sensor of the set of sensors has a first inclination angle (al) with respect to the detected marker of the plurality of markers (120a-120n), and a second sensor of the set of sensors has a second inclination angle (ot2) with respect to the detected marker of the plurality of markers (120a-120n) different from the first inclination angle (al); and a controller coupled with the set of sensors , the controller being configured to: compare a time at which the first sensor detected the marker of the plurality of markers (120a-120n) with a time at which the second sensor detected the marker of the plurality of markers (120a-120n); identify the first end or the second end as a leading end of the vehicle based on the comparison of the time the first sensor detected the marker of the plurality of markers (120a-120n) with the time the second sensor detected the marker of the plurality of markers (120a-120n); and calculate a position of the leading end of the vehicle based on the sensor data generated by one or more of the first sensor or the second sensor , characterised in that the set of sensors is on the first end of the vehicle and the first sensor and the second sensor are arranged at different heights. a set of sensors on a vehicle having the first end and a second end , the sensors of the set of sensors each being configured to generate corresponding sensor data based on a detected marker of a plurality of markers (120a-120n) along a direction of movement of the vehicle, a first sensor of the set of sensors has a first inclination angle (al) with respect to the detected marker of the plurality of markers (120a-120n), and a second sensor of the set of sensors has a second inclination angle (ot2) with respect to the detected marker of the plurality of markers (120a-120n) different from the first inclination angle (al); and a controller coupled with the set of sensors , the controller being configured to: compare a time at which the first sensor detected the marker of the plurality of markers (120a-120n) with a time at which the second sensor detected the marker of the plurality of markers (120a-120n); identify the first end or the second end as a leading end of the vehicle based on the comparison of the time the first sensor detected the marker of the plurality of markers (120a-120n) with the time the second sensor detected the marker of the plurality of markers (120a-120n); and calculate a position of the leading end of the vehicle based on the sensor data generated by one or more of the first sensor or the second sensor , characterised in that the set of sensors is on the first end of the vehicle and the first sensor and the second sensor are arranged at different heights. compare a time at which the first sensor detected the marker of the plurality of markers (120a-120n) with a time at which the second sensor detected the marker of the plurality of markers (120a-120n); identify the first end or the second end as a leading end of the vehicle based on the comparison of the time the first sensor detected the marker of the plurality of markers (120a-120n) with the time the second sensor detected the marker of the plurality of markers (120a-120n); and calculate a position of the leading end of the vehicle based on the sensor data generated by one or more of the first sensor or the second sensor , characterised in that the set of sensors is on the first end of the vehicle and the first sensor and the second sensor are arranged at different heights. <EOS>