This project is an article application.(https://ieeexplore.ieee.org/document/7984519)
DW(Detection Window) is used for lane detection. Various operations are performed on each DW shifted in the ROI. In the related article, three conditions are required for a point to be a lane.
a. Target size.
b. Target contrast.
c. Target morphology.
Let's review the steps.
Input data:
- Input data size: (960, 540)
- Each input image is resized in the data preprocessing(DataPrepocessing.py) part.
BGR to Gray:
Otsu Thresholding:
- Threshold: 50.
ROI:
DW:
RANSAC:
Result:
Sample Results:
