thoomi / advanced-lane-line-detection

Computer vision pipeline to detect lane lines, utilizing thresholding, perspective transform and histogram detection.

Advanced Lane Finding

Overview

This is the fourth project I am doing as part of Udacity's Self-Driving-Car Nanodegree.

Preview:

Project Goals

The goals/steps of this project are the following:

• Compute the camera calibration matrix and distortion coefficients given a set of chessboard images.
• Apply a distortion correction to raw images.
• Use color transforms, gradients, etc., to create a thresholded binary image.
• Apply a perspective transform to rectify binary image ("birds-eye view").
• Detect lane pixels and fit to find the lane boundary.
• Determine the curvature of the lane and vehicle position with respect to the center.
• Warp the detected lane boundaries back onto the original image.
• Output visual display of the lane boundaries and numerical estimation of lane curvature and vehicle position.

Results

1. Project Video Result

2. Challenge Video Result

For a more detailed insight on the project please see the full Writeup / Report.