Providing a prediction of a roll angle of a motorcycle

A non-transitory computer readable medium for detecting a state of a motorcycle, the non-transitory computer readable medium stores instructions for:

• obtaining, by a camera of the motorcycle, one or images of an environment of the vehicle;
• wherein there is a known angular relationship between the field of view of the camera and predefined part or a vertical axis of the motorcycle;
• generating signatures of the one or more images;
• searching, using the signatures, multiple groups of concept data structures, for one or more matching concept data structures;
• wherein different groups of concept data structures represent images virtually acquired at different roll angles;
• and
• determining a roll angle of the motorcycle based on an outcome of the searching and the known angular relationship.