jaredraycoleman/lane_detection

Lane detection for the Nvidia Jetson TX2 using OpenCV4Tegra

Jetson TX2 Lane Detection

Lane detection for the Nvidia Jetson TX2 using OpenCV4Tegra

Table of Contents

1. Dependencies
2. Usage
3. Configurations

Dependencies

Requires a Jetson TX2 running L4T 28.1 (JetPack 3.1)

Use install_dependencies.sh to install the following dependencies:

• GNU Scientific Library (libgsl-dev): used for polynomial curve fitting

Usage

Run all scripts from lane_detection directory

    ./build.sh          #builds all files
    ./build.sh clean    #removes all files generated by build.sh

    ./install_dependencies.sh #installs all dependencies

    bin/detect       #runs executable using config.txt configurations

Configurations

Modify config.txt to change configuration settings

• video_file: path to video file from execution directory
• lane_degree: degree of polynomial that defines lanes
• lane_filter: filter for curve to remove jitter lane
• lane_start_threshold: pixel threshold for searching for lane
• left_lane_start: percentage of width of frame to start looking for left lane
• right_lane_start: percentage of width of frame to start looking for right lane
• row_step: stride for stepping through rows
• col_step: stride for stepping through columns