This paper presents a robust method for ground plane detection in vision-based applications based on a monocular sequence of images with a non-stationary camera. The proposed method, which is based on the reliable estimation of the homography between two frames taken from the sequence, aims at designing a practical system to detect road surface from traffic scenes. The homography is computed using a feature matching approach, which often gives rise to inaccurate matches or undesirable matches from out of the ground plane. Hence, the proposed homography estimation minimizes the effects from erroneous feature matching by the evaluation of the difference between the predicted and the observed matrices. The method is successfully demonstrated for the detection of road surface performed on experiments to fill an information void area taken place from geometric transformation applied to captured images by an in-vehicle camera system.