Lane Detection and Prediction

Lane Detection was a course project in the ENPM673 Perception for Autonomous Robots course.

Here we try and identify the lanes on the road and predict where the lane is turning to by using vanishing points concept.

The algorithm used is as follows:

• Read image

• Convert to grayscale

• Perform Sobel Edge Detection

• Perform Morphological Operations to make edges more prominent and remove noise

• Obtain processed image using a combination of the resulting image along with color detection (based on yellow and white)

• Extract the Region of Interest from the processed image

• Extract Hough Lines from the resulting image based on certain conditions and perform curve fitting on the three most prominent lines to estimate the driving lanes