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Introduction  Research question  Methods of lane detection  Process and optimization  Lane detection algorithm Result  Conclusion  References

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The vehicle's front camera will be used to feed the video to the algorithm for lane detection.  New optimized method to lane detection using Hough transform with OpenCV library in the python for image enhancement techniques.

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To create an algorithm for lane detection by using the best optimized method.

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Hough Transform Edge Detection Bilateral Filter Lane boundaries

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Hough Transform is a technique used for extracting features that can be used in image analysis and digital image processing. Traditional Hough Transform is used for identifying lines in the images.

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y = 0.4x+4
—(1.951,3.714)
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(1.951,3.714)
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This method is based on the idea of identifying points in an image at which image brightness changes sharply.

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Input data Preprocessing  Edge detection  Lane detection

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100 sample road images taken with a resolution of 704 x 1279 pixels were chosen as input of this proposed lane detection method.  This paper follows three stages of image pre-processing region of interest selection, grayscale conversion, and image enhancement.

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Next, the enhanced grayscale image goes through edge detection. For fast processing, the  Sobel  edge operator masks were used which are given in the matrix form.  The lane detection technique based on Hough transform was applied to the detected edge points. This paper first used the traditional Hough transform followed by the proposed partial Hough transform method. The traditional Hough transform used is as given in (3) (x, y) is the spatial coordinates and (Ɵ, ρ) is the polar coordinates.

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For lane detection algorithm is developed using python language. As algorithm is required to deal with images and numerical methods OPENCV and NUMPY libraries are included in the algorithm.

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The lane detection algorithm is working flawlessly. Hough transform is performing the detection of the line in the video.   This lane detection will be successfully implemented on the autonomous vehicle (Indy Autonomous Challenge vehicle) by taking the video feed from the front camera of the vehicle.

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A REVIEW OF LANE DETECTION TECHNIQUES by  GurjyotKaur  and  Gagandeeop  Singh Advanced Visual Analyses for Smart and Autonomous Vehicles by  Mungfa  Li.  Lane detection for driver assistance and intelligent vehicle applications by Craig D’Cruz

LANE DETECTION SYSTEM BASED ON OPENCV

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