Jetson TX2 Lane Detection

Lane detection for the Nvidia Jetson TX2 using OpenCV4Tegra

Table of Contents

1. Dependencies
2. Usage
3. Configurations

Dependencies

Requires a Jetson TX2 running L4T 28.1 (JetPack 3.1)

Use install_dependencies.sh to install the following dependencies:

• GNU Scientific Library (libgsl-dev): used for polynomial curve fitting

Usage

Run all scripts from lane_detection directory

    ./build.sh          #builds all files
    ./build.sh clean    #removes all files generated by build.sh

    ./install_dependencies.sh #installs all dependencies

    bin/detect       #runs executable using config.txt configurations

Configurations

Modify config.txt to change configuration settings

• video_file: path to video file from execution directory
• lane_degree: degree of polynomial that defines lanes
• lane_filter: filter for curve to remove jitter lane
• lane_start_threshold: pixel threshold for searching for lane
• left_lane_start: percentage of width of frame to start looking for left lane
• right_lane_start: percentage of width of frame to start looking for right lane
• row_step: stride for stepping through rows
• col_step: stride for stepping through columns