This project contains baseline for curved lane lines detection. But there are some cases, when this approach works bad:
- When road turns relatively hard (sharp turn or the road is winding).
- When the road gets sunshined or other light sources.
The first case appears because of perspective_warp() returns kind of cropped image.
When the road is winding, lane line often go out of warped image.
Second case appears during Sobel operation. Sobel operator detects gradients of sunshine borders and it is noise in that case.
- Curved Lane Detection. URL: https://www.hackster.io/kemfic/curved-lane-detection-34f771.