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A simple robotics framework.

Advanced Lane Lines on Carla Simulator

Advanced Lane Finding on the Road

The video below talks about how I process the input stream and the steps involved to build an image processing pipeline that gives filling area between left lines and right lines.

Advanced Lane Finding Finding

The goals / steps of this project are the following:

  • Compute the camera calibration matrix and distortion coefficients of given images.
  • Apply a distortion correction to raw images.
  • Use color transforms, gradients, etc., to create a thresholded binary image.
  • Apply a perspective transform to rectify binary image (“birds-eye view”).
  • Detect lane pixels and fit to find the lane boundary.
  • Determine the curvature of the lane and vehicle position with respect to center.
  • Warp the detected lane boundaries back onto the original image.
  • Output visual display of the lane boundaries and numerical estimation of lane curvature and vehicle position.

For more details, please check it out

Final Output Video

Thank You