Pipeline Describtion
My pipeline consisted of 5 steps.
- Convert image to grayscale
- Apply gaussian blue to grayscale image
- Apply canny edge detection to blured image
- Extract the region of interest area from edged image
- Find the lines by using "Hough Line Transform"
In order to draw a single line on the left and right lanes, we need to modified the draw_lines() function. After hough transform we have too many lines. We need to convert this lines to a single line. To do this
- Classify the lines (Left and right) according their slope.
- Find average slope and bias.
- Calculate the x and y coordinates of the line.
Before
After
