The goals / steps of this project are the following:
- Make a pipeline that finds lane lines on the road
- Reflect on your work in a written report
My pipeline consisted of the following steps:
In order to draw a single line on the left and right lanes, I:
- Partitioned to left/right the output of filtered Hough transform by horizontal location relative to the center of the image;
- Fit a 1st-degree polynomial to points in each partition to get the slope/intercept of the fitted line;
- Took simple moving average of the last 5 slopes/intercepts;
- Plotted the resulting left and right lines on the input image.
- Might not work under different light conditions.
- Will not perform great on curved lane marks.
- If lane marks are missing in the multiple frames, will not keep the last values.
- Try various color space transformations for difficult light conditions.
- Use higher degree polynomial to fit curved lane marks.
- Handle case when lane marks disappear in multiple consecutive frames by filling the gap with the last values.