Advanced Lane Finding Project

 

The aim of this project is to create an advanced lane finding algorithm that deals with complex scenarios like curving lines, shadows and changes in the color of the pavement. It also measures how much the lane is curving and where the vehicle is with respect to the center. To solve this problem I used different computer vision techniques. The steps were 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 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. If any questions, feel free to reach me at [email protected] Music: Rock Angel - Joakim Karud