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
• Try it on images and videos and see if it works

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Reflection

1. Describe your pipeline. As part of the description, explain how you modified the draw_lines() function.

My pipeline consisted of the following steps

• Gray scale
• Gaussian Blur
• Canny edge detection
• Masking to region of interest (Lane lines)
• Hough Transform to find the lane lines
• Averaging the lane lines
• Super-imposing to output

Look at the image to see the details of each step.

I added get_aggr_lanelines() to average the list of lines returned by Hough Transform to 2 lines, each showing each lane. The left and right lane lines were separated using +ve and -ve slope and averaged separately. The section titled Line averaging and classification has the details. The classic line equation $y = mx + c$ was used in solving line i.e converting a pair of points to slope and intercept.

2. Identify potential shortcomings with your current pipeline

Some potential issues:

• In curvy winding roads, averaging to lines wont be very ideal. In such cases averaging to curves would be better, in such cases the technique employed (+ve and -ve slope of line) to separate left and right lanes will not work i guess

3. Suggest possible improvements to your pipeline

One potential improvement

• to smoothen video, frame to frame line averaging could be done