Epsilon8854 / RANSAC_based_lane_dection

RANSAC_based_lane_dection

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Overview

The RANSAC_based_lane_detection detects lanes in the images which it receives from the vehicle and creates a waypoint for the vehicle. If there is more than one lane detection result, the package provides a waypoint. If it does not find a lane, it does not provide a waypoint.

Detector using the following algorithms:

1. Convert to Top View Image
2. Get a binary image for both yellow and white and merge it.
3. Set the ROI
4. Counts the number of points for each x-coordinate and determine a point to start finding a lane (It would be better to use PCA rather than this).
5. a.Using RANSAC, find the coefficients in a small windows which generated from a start point. From coefficients, determine a next start point.

config

- ubuntu (16.04 LTS)
- Ros kinetic

Input

• usb_cam/image_raw/compressed

How to use

go to your workspace src dir, clone this package

git clone https://github.com/Epsilon8854/RANSAC_based_lane_dection.git

Video(click the image)