Mapping 2D-circuit drawn on the floor with only a camera.

edit

Hi, I'm looking for information or guidance about 2D floor race-circuit mapping with a monocular camera.

I've made an oval circuit with adhesive tape on the floor. The circuit consists of two circumferences of tape, one within the other, so the overall is an oval-like race circuit. The floor is black colour and the adhesive tape is white.

I have an RC car scale 1/10 which "races" in that circuit and I am thinking on something similar to orb-slam2 but I only want to focus on the floor and on the tape. The camera is placed on top of the RC car.

I am trying to find a way to map the circuit only using a camera, detecting the drivable area (within the adhesive tape) of the circuit.

-----EDIT-----

I found this video that show pretty much the output of what I am trying to achieve. Haven't achieved it yet though.

This images show what I am trying to do. The images are from the same project of the video but I cannot find any information about the project, only the video.

Any information is welcome. Thanks in advance :)