Lane Detection for Self Driving Cars

Authors

• Shubham Sonawane
• Prasheel Renkuntla
• Raj Prakash Shinde

Description

Using the concept of hough lines and histogram for lanes, lane detection has been carried out on 2 different datasets.

Dependencies

• Ubuntu 16
• Python 3.7
• OpenCV 4.2
• Numpy
• copy
• sys
• argparse

Run

To run the Video enhancement on Night ride video

python3.7 P1-video_correction.py

To run the lane detection on images, 2(a) Udacity Dataset -

python3.7 P2-1-Homography.py

To run the lane detection on challenge video, 2(b) KITTI Dataset -

python3.7 P2-2-challenge_accepted.py

Results

Reference

• https://stackoverflow.com/questions/19890054/how-to-sharpen-an-image-in-opencv
• https://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_imgproc/py_filtering/py_filtering.html
• https://www.pyimagesearch.com/2015/10/05/opencv-gamma-correction/
• https://medium.com/@rndayala/image-histograms-in-opencv-40ee5969a3b7
• https://answers.opencv.org/question/193276/how-to-change-brightness-of-an-image-increase-or-decrease/
• https://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_imgproc/py_histograms/py_histogram_equalization/py_histogram_equalization.html
• https://www.programcreek.com/python/example/89353/cv2.createCLAHE
• http://amroamroamro.github.io/mexopencv/opencv/clahe_demo_gui.html
• https://en.wikipedia.org/wiki/Kernel_(image_processing)
• https://answers.opencv.org/question/175912/how-to-display-multiple-images-in-one-window/