Advanced-Lane-Detection

TODO: Detailed explanation

The project is aimed at lane detection from a video taken from a front-camera of a car to automatically detect lanes and determine the radius of curvature and the vehicle position in the lane. Implemented in OpenCV Python.

Algorithm:

1. Fix Camera Distortion
2. Perspective Transformation
3. Lane detection with a combination of edge detection, R-Channel, S-Channel, L-Channel Thresholding.
4. Detecting the lane lines by histogram binning and box stacking.
5. Fitting a polynomial curve to the lane lines
6. Calculating the Radius of curvature and vehicular position in the lane.
7. Visualization

Code:

included in run.py

Sample Output: https://www.youtube.com/watch?v=ORShZ8Ny0R0&feature=youtu.be