A relatively inexpensive method with good results for a robot capable of detecting the lines and the curved lines of a road is described in this project. Kemal Ficici has used OpenCV for computer vision, a Raspberry Pi 3 and an NVIDIA Jetson TX2. If we add the video camera, wires, and other accessories, the project does not exceed the amount of 1000 Euros for the hardware parts. A small price for a system capable of detecting lines and curved lines.
Detecting curved lanes in camera space is not very easy. – says Kemal Ficici
The system uses the contrast between lane lines and road to detect the driving path.
Here’s the current image processing pipeline:
- Distortion Correction
- Perspective Warp
- Sobel Filtering
- Histogram Peak Detection
- Sliding Window Search
- Curve Fitting
- Overlay Detected Lane
- Apply to Video
The system also has weaknesses. It is affected by shadows, drastic changes in road texture, rain and snow.
How the system works: