A vision system for a motor vehicle, comprising - an imaging apparatus adapted to capture images from a surrounding of the motor vehicle, and - a data processing apparatus adapted to perform image processing on the images captured by the imaging apparatus, wherein - the data processing apparatus is adapted to execute an edge detector adapted to detect edges in the captured images, wherein - the data processing apparatus is adapted to execute a road classifier adapted to calculate for each picture element of an input image (6, 50) captured by the imaging apparatus the probability that the picture element belongs to any one of the classes road surface marking and drivable surface, yielding a road probability image, - wherein said data processing apparatus is adapted to combine the results from said edge detector and from said road classifier so that edges in the images can be identified as road surface markings, in order to detect road surface markings in images captured by said imaging apparatus, said vision system comprising an edge filter adapted to remove edges output by said edge detector depending on their probability in the road probability image, wherein the edge filter is adapted to remove edges which are positioned in picture elements having a probability below a threshold of belonging to drivable surface in said road probability image, characterized in that said vision system comprises a road marking tracker adapted to fit parametric tracks to edges (100, 200) output by said edge filter, to track said parametric tracks fitted to said edges (100, 200) over several time frames, and to remove edges (100, 200) depending on how well they match the estimated parametric tracks, wherein the road marking tracker is adapted to remove edges (100, 200) which are positioned on pixels having a probability below a threshold of being road surface markings in said road probability image. - an imaging apparatus adapted to capture images from a surrounding of the motor vehicle, and - a data processing apparatus adapted to perform image processing on the images captured by the imaging apparatus, wherein - the data processing apparatus is adapted to execute an edge detector adapted to detect edges in the captured images, wherein - the data processing apparatus is adapted to execute a road classifier adapted to calculate for each picture element of an input image (6, 50) captured by the imaging apparatus the probability that the picture element belongs to any one of the classes road surface marking and drivable surface, yielding a road probability image, - wherein said data processing apparatus is adapted to combine the results from said edge detector and from said road classifier so that edges in the images can be identified as road surface markings, in order to detect road surface markings in images captured by said imaging apparatus, said vision system comprising an edge filter adapted to remove edges output by said edge detector depending on their probability in the road probability image, wherein the edge filter is adapted to remove edges which are positioned in picture elements having a probability below a threshold of belonging to drivable surface in said road probability image,