Lane identification system for camera based systems.
Calibrate - Use Camera Calibrate Function to get Distortion Matrix
Undistort - Use Computed Distortion Matrix to correct for Distortion
Warp - Use Warping Function to get Bird's eye view
Threshold - Use a combination of static , dynamic thresholding with morph transformations & colorspaces to get thresholded image
Extract Pixel Information - Use Quantity based thresholding to and extract non-zero pixels
Blind Search - Look for pixel information throughout the image
Left Mask Computation | Right Mask Computation |
---|---|
Polynomial Search
Validate and Fit - Use Curvature and LaneWidth Sanity mechanisms to check the validity of the two fits obtained for a given frame and decide on whether to use the current fit or use an extrapolated average of the previous fits
**Project Fit on to Image ** - Convert the x, y plane points and fit to image plane points and draw polygon on the image.
Unwarp - Use Inverse Perspective Transform to unwarp the image.
Output - Return the processed frame.
The outputs of these Udacity students were taken as references to better my existing algorithms. Although I referred these algorithms I could manage to deliver my own touch to it and also better the results significantly when compared to the authors whose code I referred.