1. A computer vision method for autonomous driving that uses only a single camera, comprising: moving object localization in 3D with a real-time framework that harnesses object detection and monocular structure from motion (SFM) through the ground plane estimation; tracking feature points on moving cars a real-time framework to and use the feature points for 3D orientation estimation; and correcting scale drift with ground plane estimation that combines cues from sparse features and dense stereo visual data.