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 has two main parts:
- Image processing (orig->grayscale->canny->region_masking->houghlines)
- Calculate and draw a fitted line on current image using:
- hough lines for current image
- Fitted lines from previous images
- Applying region of interest mask to trim the lines drawn.
A few obvious shortcomings of this pipeline are:
- Sensitive to hand-tuned 'region of interest' mask
- not able to deal with Curves because of line fitting and naieve historic averaging
A few possible improvements that i can think off are:
- fit a polynomial instead of a line so that curves can be better handled
- apply specialized canny which would only use derivatives on horizontal axis
- Make all functions generic and not assume image shape in any part of the code.