A monitoring system includes a sensor system for capturing at a capture instant, information relating to moving objects moving in a roadway infrastructure portion, and a control station comprising a display for displaying at a display instant subsequent to the capture instant, a view of the roadway infrastructure portion on which is visible an image of each moving object. The monitoring system also includes at least one computer for deriving captured information of a measured position and speed of each moving object at the capture instant, and another computer for deducing the measured position and speed at an estimated position of each moving object at the display instant. The display is configured to display in the view of the road infrastructure portion a virtual image of each moving object at its estimated position.