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An advanced lane-finding algorithm using distortion correction, image rectification, color transforms, and gradient thresholding.

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mithi/advanced-lane-detection

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INTRODUCTION

Built an advanced lane-finding algorithm using distortion correction, image rectification, color transforms, and gradient thresholding. Identified lane curvature and vehicle displacement. Overcame environmental challenges such as shadows and pavement changes

In this project, I have used computer vision techniques to identify lane boundaries and compute the estimate the radius of curvature given a frame of video of the road.

To achieve this, the following steps are taken:

  • Computed the camera calibration matrix and distortion coefficients of the camera lens used given a set of chessboard images taken by the same camera
  • Used the aforementioned matrix and coefficient to correct the distortions given by the raw output from the camera
  • Use color transforms, and sobel algorithm to create a thresholded binary image that has been filtered out of unnecessary information on the image
  • Apply perspective transform to see a “birds-eye view” of the image as if looking from the sky
  • Apply masking to get the region of interest, detect lane pixels,
  • Determine the best fit curve for each lane the curvature of the lanes
  • Project the lane boundaries back onto the undistorted image of the original view
  • Output a visual display of the lane boundaries and other related information

HOW TO USE

  • You need to setup dependencies to run a Jupyter Notebook on your computer and setup a handful of packages such as opencv
import matplotlib.pyplot as plt
%matplotlib inline
import cv2 
import numpy as np
import pickle
from scipy.misc import imread

from moviepy.editor import VideoFileClip
from IPython.display import HTML
  • To run any notebook properly, copy the jupyter notebooks from the /notebook folder to the root directory
  • This is so that each notebook sees to see relevant files, the most relevant files being the python classes.

Relevant Links

RELEVANT FILES

Video Output

  • project_video_output.mp4
  • project_video_verbose_output.mp4

Pipeline

  • pipeline.ipynb
  • pipeline_verbose.ipynb

Classes

  • ChessBoard - chessboard.py
  • BirdsEye - birdseye.py
  • LaneFilter - lanefilter.py
  • Curves - curves.py

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An advanced lane-finding algorithm using distortion correction, image rectification, color transforms, and gradient thresholding.

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