moonlca/carnd-advanced-lane-lines

Advanced Lane Finding

The Project

only one source code is call 'P2.ipynb'

A.Distortion Correction

first the camera will snap some photo with a chessboard saved in the folder: camera_cal

after Correction the chessboard will look as a rectangle

B.apply binarary hightlight to bird view

b1.binarary hightlight

By applying a Color and Gradient combined filter which can highlight the white line and the yellow line as the lane we want to trace

b2.get the bird view

with the Perspective Transform we can focus on the front road part and reshapeto the bird view

C.trace the line

c1. using the Histogram Peaks can recogizate the left lane and the right lane

c2. compute the curveradius and the diff_from_center

D.use a pipline to include all process

process the pipline on project_video.mp4 and save the output video as project_video_out.mp4

Discussion

the curveradius will somehow have a small value in a discontinuous straight line we might patch the Discontinuous part using interpolation in the future also the video render speed is not enough to process realtime. the pipeline has to boost up to meet the realtime requirements.