A system and method are disclosed for detecting road marking in a video using learned road marking templates. The system comprises a template learning module configured to learn the feature-based road marking templates from a set of training images. The template learning module is configured to rectify each training image, detect multiple regions of interest, and for each detected region of interest, detect multiple key points. The template learning module extracts feature vectors for the detected key points and builds the road marking templates from the feature vectors. The system also includes a road marking detection module for detecting road markings in a video at runtime using the learned road marking templates. During runtime, these templates are matched using a two-step process of first selecting promising feature matches and subsequently performing a structural matching to account for the shape of the road markings.