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Finding Lane Lines on the Road
The goals / steps of this project are the following:
- Make a pipeline that finds lane lines on the road
- Reflect on your work in a written report
1. Describe your pipeline. As part of the description, explain how you modified the draw_lines() function.
My pipeline consisted of 5 steps.
First, I converted the images to grayscale, and dealt it with Gaussian Blur.
Second, use Canny Method to find edges.
Third, I created a mask to the edges of lane line on the road.
Forth, get the lines by the way of Houph.
In order to draw a single line on the left and right lanes, I modified the draw_lines() function by tree steps:
1. Separate left an right lane lines by their slope rate.
2. Sort the lines by each line's bottom-x posiotn, and choose only middle 1/3 samples.
3. For the top point, choose the toppest point; For the bottom point, calculate the average x value. Then, the final one line is made.
One potential shortcoming would be that the recognized lane lines are shot and unstable when vehicle turns a corner.
Another shortcoming could be that my algorithm is too depending on lane line's color. If in dark or flickering conditions, I wonder whether the algorithm could work well.
A possible improvement would be to set up a local lane map to avoid getting lost when algorithm can't recognize any lane. Another potential improvement could be to use AI technology to get better lane recognition.