We propose a new method for line detection and tracking in videos in real-time. It is based on an optimised version of the dense Hough transform, that computes, via one-to-one projection, an accumulator in the polar parameter space using the gradient direction in the grayscale image. Our method then performs mode (cluster) tracking in the Hough space, using prediction and matching of the clusters based on both their position and appearance. The implementation takes advantage of the high performance video processing library Video++, that allows to parallelise simply and efficiently many video primitives. Copyright © 2018 by SCITEPRESS - Science and Technology Publications, Lda. All rights reserved.