Getting Around

• The Repository has all the processing done in the file Advanced Lane Lines Final A brief description of what was done has been described step by step.
• The outputs are Project Video , Challenge Video, Harder Challenge Video

Video Pipeline

Complete Process Involves

• Calibrate - Use Camera Calibrate Function to get Distortion Matrix
• Undistort - Use Computed Distortion Matrix to correct for Distortion

• Warp - Use Warping Function to get Bird's eye view

• Threshold - Use a combination of static , dynamic thresholding with morph transformations & colorspaces to get thresholded image

• Extract Pixel Information - Use Quantity based thresholding to and extract non-zero pixels

• Blind Search - Look for pixel information throughout the image

  

  Left Mask Computation	Right Mask Computation

• Polynomial Search

• Validate and Fit - Use Curvature and LaneWidth Sanity mechanisms to check the validity of the two fits obtained for a given frame and decide on whether to use the current fit or use an extrapolated average of the previous fits

* **Project Fit on to Image ** - Convert the x, y plane points and fit to image plane points and draw polygon on the image. * **Unwarp** - Use Inverse Perspective Transform to unwarp the image.

• Output - Return the processed frame.

Example Images from Each of the video

Harder Challenge

#### Challenge Video

#### Project Video

Camera Calibration

• Get Chessboard Corners from Standard Images
• Calibrate Camera using differences in distances between expected and actual results
• Use Calibration data to Undistort Camera Images

* Example of how Chessboard Corners are obtained before Calibration to Undstort and use it to have a Bird's Eye Perspective

Warping & Birds Eye View Generation

• Use Interactive Python to plot and understand what is the best set of source and destination points for each/ all the three videos of interest. After several days of experimentation we have finally arived at these numbers
• Use Get Perspective Transform for Matrix calculation that can be used to Warp The Image to Bird's eye view and Unwarp them back to the front view

Image Thresholding

### Morphological Channel : * Use HLS S- Channel and Gray Channel to create Morphological Channel * Threshold the Morph Channel to get the most dominant features * Determine Levels of Thresholds using Mean and Standard Deviations

Environment Mask :

• Use B-Channel from the LAB Colorspace to choose Yellow and Shades of Yellow
• Use HLS Channel to filter out everything not in range of threshold. "

Queue Helper Functions

____________________________________ * Queues are extremely useful tools for First In First Out queues. * The size of the queues when they are really large can help stabilize values very well in case of noisy conditions * The size of the queues can also slow down the speed at which the lanes

Fit Functions:

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• Mean Fit : Get average fit over n-samples specified
• Predicted Fit: Extrapolate fit values if next sample is valid
• Last Fit: Last valid fit in the queue

Curvature Functions:

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• Mean Curvature : Get average curvature over n-samples specified
• Predicted Curvature: Extrapolate curvature values if next sample is valid
• Last Curvature: Last valid curvature in the queue

Other Functions:

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• Clear Queues: Clear the queues completely
• Pop Left: Pop the left most value in the queues

Gif Outputs of all three processed videos

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Project Video

Challenge Video

Harder Challenge Video

Key Highlights

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• Thresholding uses a combination of Morphological Transformations and Mean , Median , STDEV based dynamic thresholding
• Lane Width Rationalization and Dynamic Lane Width Updation to deal with optical illusion.
• State Machine to Handle decision on Found Lanes , and non-found lanes using queues and flags.

Challenges

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• Absence of a great road model, absence of a great camera model - The road model would help understand what sort of a curve is sane , what isnt . What colors amount to false positives etc. Similarly the camera model should be designed to dynamically shift field of view and calculate the x and y distances keeping optical illusions in mind.
• The result is extremely sensitive to Calibration ( Gains, Thresholds, Queue Lengths , Number of Segments etc.) Find the right combination of all these thresholds needed a plugin like Interactive Python .
• What works for one scenario may not work very well with the other. Using multiple scenarios for just the three videos would just amount to cheating, so developing a generic concept to handle most scenarios is the toughest part.
• These challenges made me appreciate the concepts of deep learning augmenting classic computer vision techniques to process the image mathematically.
• The entire project was built using global variables , queues and functions without the use of objects to make sure anyone who has just begun coding can read and understand the process easily.

References

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The outputs of these Udacity students were taken as references to better my existing algorithms. Although I referred these algorithms I could manage to deliver my own touch to it and also better the results significantly when compared to the authors whose code I referred.

• Vivek Yadav - https://github.com/vxy10 ( Blind Search & Masking )
• Parilo - https://github.com/parilo ( Exploration of RANSAC Regressor Fit )
• Nikolas Ent - https://github.com/NikolasEnt ( Lane Width rationalization )
• Ajsmilutin - https://github.com/ajsmilutin ( Image Thresholding )