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Self Driving Car Engineer Project 4 - Advanced Lane Line Detection

Benjamin Söllner, 22 Jun 2017


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The goals / steps of this project are the following:

  • Compute the camera calibration matrix and distortion coefficients given a set of chessboard 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.

Files Submitted

My project includes the following files:

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Project 4 "Advanced Lane Line Finding" of Udacity's "Self Driving Car Engineer" Nanodegree

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