You can use this file as a template for your writeup if you want to submit it as a markdown file. But feel free to use some other method and submit a pdf if you prefer.
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.
- make it gray
- apply a gaussian blur with 5x5 kernel
- detect canny edges
- cut out ROI
- detect hough lines
In order to draw a single line on the left and right lanes, I modified the draw_lines() function in 3 steps:
- filter out good left/right lane edges by looking at two vertices
- fit a line
np.polyfit()on those vertices - draw the fitted line.
One potential shortcoming would be the params will not work with other FOV cameras (even a same camera but a different mouting point).
Another shortcoming could be not able to hanle curvy road because I assume straight lane lines in above code.
A possible improvement would be use hough transform to detect circles for curvy roads.