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Finding Lane Lines on the Road

Modified from template.

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

Reflection

1. Pipeline description -

My pipeline is described visually in the below image.

  1. Convert "orignal image" to grayscale, apply gaussian blur and then canny transform to get the "canny image"

  2. Apply the "mask" defined by array describing a polygon on the image

  3. Identify lines using HoughLinesP.

  4. Additional functions average_pos() and m_b_points() identify lines with negative and positive slopes. All lines with positive slope and negative slope are averaged to get the single left and right line respectively. hough_lines() and draw_lines() are modified to reflect this change.

Image describing pipeline:

alt text

2. Identify potential shortcomings with your current pipeline

One potential shortcoming of the current pipeline could be that it may mis-identify other features as lines on a sharp turn. This could be avoided by changing the mask shape based on certain conditions.

3. Suggest possible improvements to your pipeline

Couple of improvements come to mind for the current pipeline

  1. Currently the left and right lines appear jittery. This could be smoothed by averaging over multiple frames. Care must be taken to not smear out detail in doing so.

  2. Canny may mis-identify lane lines due to large intensity changes present in other locations in the image than the lane itself.