Finding Lane Lines on the Road
The goals / steps of this project are the following:
- Make a pipeline that finds lane lines on the road
- Reflect on your work in a written report
1. Describe your pipeline. As part of the description, explain how you modified the draw_lines() function.
My PipeLine consists of 6 steps:
- I took only the red part of the image and converted it into binary image.
- Then I smoothed(blurred) the image.
- Then, I detect the edges based on mean and standard deviation of image.
- Then I through away the image part that is not required(masking).
- Then I detect the left and right line and draw on a blank Image.
- In the end I combined both raw image and image with lines drawn to get image with red line drawn on Lanes.
And also I am using a class to track the frames as in some frames lines are not detected properly.
When there is shaddow in image its hard to detect a Lane, which is causing issue when car passed through that part of road which consists of shadow.
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If its possible to get other image components to detect the
shadow regionor the region with low light intensity then the pipeline can work in any weather condition or in any region. -
I was trying with
Spart ofHLSimage and with that I combinedRpart ofRGBimage and I seen withn=5(number of frames) in myLineclass and with that It was working good withoptionalvideo. But with first video it was failing as I was taking pixel values between (100, 255) but when I taken all pixel values between (0, 255), it worked with both but I was not getting the same result, So I have to check more with that