Skip to content

This project is a a sub module of self driving car...focuses on finding the lane line in road

Notifications You must be signed in to change notification settings

Abonia1/Lane-Line-Detection

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

26 Commits
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

Lane-Line-Detection

Image File

Initial image file is available here

Gray the image

Need to change rgb to gray scale and result will be as below:

image

Blur the image

Blur the image for too to feed to canny edge detection step and result will be as below:

image

Canny edge detection

Sudden change in threshold of the image is called edge so here with tis step edge of the lane lines are found via this step and result will be as below:

image

Matplot

To calculate and find the region of interest using x and y coordinates and result will be as below:

image

Region of interest

once we found ROI then we must mask it with fillpoly function and result will be as below:

image

Bitwise And to find the mask of the canny image

BitwiseAnd is calculated with bit value of each pixel value to get the cropped image of canny and result will be as below:

image

Hough Transform

Maximum number of intersection inside bin

Line computation

line s 2D array with 1 row and 2 cols [[704 418 927 641]] [[704 426 791 516]] [[320 703 445 494]] [[585 301 663 381]] [[630 341 670 383]] [[794 520 861 591]] [[659 371 704 416]] [[870 599 939 672]] [[767 493 807 534]] [[423 509 454 461]] [[940 653 991 702]] [[824 551 879 609]] [[676 389 754 467]]

Display Lines

Display line method make image to black Find coordinates of each line Apply this coordinate to lines in black image

and result will be as follow:note(I have mentioned B with high value and make RG as 0)

image

also finally apply lines in real image as follow:

image

Averaging the lines

Averaged line to find a smooth line for clear detection and result as below:

image

Average lineintegration with combo image and result as below:

image

Adding input as video frame

The video file to be feed is test.mp4

Test Drive video

I have tested with best parameter and model in driving env act as in video file testDrive.mp4

For calcuation and computation about image preprocessing and to play with pixel just visit the link

https://github.com/Abonia1/ComputerVision-AI/wiki

About

This project is a a sub module of self driving car...focuses on finding the lane line in road

Topics

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Languages