Advanced Lane Lines Finding

The Goal of this Project

To wirte a software pipeline to identify the lane lines in videos

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 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. The goals and steps of this project are the following:

rubric points

Camera Calibration

find camera instrinsic parameter(distortion) by camera_cal folder's files and save the result in output_image folder

Using the openCV library, and essential function is findChessboardCorners, calibrateCamera and undistort.

Check board size is 9x6 so, some zoom in image is not used for calibration but all image's distortion is compensated

• distored image smape
• undistored image sample

Estimate the image transform

Find a transform matrix for bird eye's view Using a straight line image

• unwarped image
• warped image

Define the sobel threshold and Color thresold

Using the Sobel threshold to a binary image, make gradient filtered image. -Key factor are axis(x or y), magnitude, direction Also, Color threshold to a binary image, make gradient filtered image. -Key factor is changing a RGB colored image to a HLS image, filtered S channel

Find lane pixels and estimate fitting line

Find lane pixel in warped binary image. There are two methods

1. find lane pixel in window area of image
2. find lane pixel in sliding on image y-axis

Estimate lane curvature and offset of lane's center

Estimate lane curvature left/right lane by 2nd polynomial line and, find a offset of camera center between lane (when find a offset, using a meter per pixel scale values)

• curvature example
• curvature equation

Drawing the lane result and some information

Finaly, Drawing the lane area on original image. Drawing the lane curvature data and offset

• result

shortcomings

• Shadow Area is too difficult for filtering

Next Improvements

• More Advanced Lane Line finding
• study a smoothing and tracking algorithm
• challenge_video.mp4 & harder_challenge_video.mp4

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