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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