This paper deals with a design of specific marker detector and tracker for semiautonomous convoy purpose. The solution is based on computer vision. The detectors main requirement is the specific marker recognition ability for various environments. The next part of this paper deals with tracking of marker by KLT algorithm. This solution was primary designed for a semi-autonomous convoy task, where all mobile units contain the specific marker, which is attached on the back side. Detector and tracker are able to recognize previous convoy unit to control all other mobile units in convoy.