AutonoMas

Lane Detection Algorithm

Setup

1. Clone the repository
2. Insure you have python3.x installed
3. If you have pip run '''bash pip install -r requirements.txt ''' this will install the required python modules
4. next go to the end of the autonomas.py file and set the path to the video you which to use (line 309)
5. Now you should be able to run the program, enjoy!

How it works

The algorithm uses 8 filters and functions to detect lane lines.

1. The image is masked to only have the road in the image
2. HSL color threhold
3. Gray Scale color threshold
4. Sobel Filter used on x and y
5. Canny Edge Detection
6. Adaptive Binary Filter
7. Hough Lines Filter
8. Extapolation and averaging of Hough Lines
9. Moving average for Extapolation Lines

Orginal Image

Masked Image

Filtering (Color HSL and Gray Scale, Sobel, and Canny Edge Detection)

Filtering Adaptive Binary Threshold

Resulting Image (including filters 7,8,9)

Full youtube video of demo can be found here: https://youtu.be/_-spc5U9u3E

Note: the current release of AutonoMas does not detect cars but if your are interested search for haarcascades

Aknowledgements

Most of the learning resources I used for this project came from OpenCVs Docs and many different articles, videos, and github repos.