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A novel system for detection and tracking of vehicles from a single car-mounted camera is presented. The core of the system are high-performance vision algorithms: the WaldBoost detector  and the TLD tracker  that are scheduled so that a real-time performance is achieved. The vehicle monitoring system is evaluated on a new dataset collected on Italian motorways which is provided with approximate ground truth (GT0) obtained from laser scans. For a wide range of distances, the recall and precision of detection for cars are excellent. Statistics for trucks are also reported. The dataset with the ground truth is made public.