Finding Lane Lines on the Road

1. Pipeline description. As part of the description, and how the draw_lines() function was modified.

My pipeline consisted of 5 steps.

1. I converted the images to grayscale.
2. I smoothed the images by applying guassian filter.
3. Applied Canny edge finding to get the edge/gradient information.
4. Used a four sided polygon mask to keep the region of interest.
5. Applied Hough transform to find the left and right lane lines.

In order to draw a single line on the left and right lanes, I modified the draw_lines() function by

1. Decided left or right lane lines by using slope i.e. slope = (y2-y1)/(x2-x1). It is considerd as left line if slope < 0. It is considered right line if slope > 0.
2. Used polyfit to find the target line for left line and right line respectively.
3. Calculated the corresponding x based on the boundary y value in order to extrapolate the line.

The images for each step are shown as below:

2. Potential shortcomings with current pipeline

One potential shortcoming would be what would happen when image quality is not good, for example, bad lighting/brightness. It may be difficult to find the lane lines.

Another shortcoming could be the "draw_lines()" function is very simple/naive. It may not work well when Hough transform result is bad.

3. Suggestion for possible improvements to the pipeline

A possible improvement would be to apply some pre-image processing methods to enhance image quality.

Another potential improvement could be to try the modified Hough tranform or try a higher degree poly fitting (rather than one degree).