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There is no optimal height for a back-up camera. The ideal height is based off the specific car or vehicle that you have and your personal preferences, along with its intended application. Some back-up cameras are placed on large service trucks so that they can line up to trailer hitches easier, some are to prevent a blindspot on the road. Depending on your application, it can be placed at any height. Most reversing cameras are a "wide view" style and the specific height location does not always affect the way it functions.
I replaced my rear view mirror with a monitor. I"m pretty happy with the setup. The only thing I miss is the ability to see my son behind me in a mirror. I could install a small mirror just to see inside the van. On the plus side, I can see everything behind me, particularly when backing. The camera lets me see right behind me, while the outside mirrors let me watch the sides of the van to be sure I"m clear of anything to the sides (like the cars I"m parking between).
Vehicle specific backup systems are specialized safety units designed to alert drivers and/or bystanders when a particular vehicle is in reverse. The equipment typically includes backup camera, LCD monitor, remote sensors, and/or accessories to assist drivers with avoiding collisions behind them. Although backup systems can be customized for all vehicles, these systems can often be lifesavers for larger vehicles with several blind spots such as trucks and RVs.