This paper presents a video-based approach to detect the presence of parked vehicles in street lanes.Potential applications include detection of illegally and double-parked vehicles in urban scenarios and incident detection on roads. The technique extracts information from low-level feature points (Harris corners) in order to create spatio-temporal maps that describe what is happening in the scene.The method does not rely on any background subtraction or perform any form of object tracking.The system has been evaluated using private and public data sets and has proven to be robust against common difficulties found in CCTV video such as varying illumination, camera vibration, presence of momentary occlusion by other vehicles, and high noise levels.