The autonomy of a vehicle can be achieved by a proper use of the information acquired with the sensors. Real-sized autonomous vehicles are expensive to acquire and to test on; however, the main algorithms that are used in those cases are similar to the ones that can be used for smaller prototypes. Due to these budget constraints, this work uses the Duckiebot as a testbed to try different algorithms as a first step to achieve full autonomy. This paper presents a methodology to properly use visual feedback, with the information of the robot camera, in order to detect the lane of a circuit and to drive the robot accordingly.