rivasiv / cv-lane

Computer Vision for autonomous lane detection (and motor control)

Lane detection using opencv

This communicates with Jabelone's car-controller

Jabelone's car-controller is used to output the pwm signals to the steering servo and motor controller. Read the set-up instructions for car-controller for wiring instructions. Plug the car-controller arduino into the pi via USB so cv-lane can talk to it.

Basic Usage:

1. A hardware safety switch is connected between pin 11 and ground. There is an LED between pin 40 and ground with an appropriate resistor.

2. A Pi camera is connected and it's facing the right way up, angled down a bit. (optimum angle/placement depends on your setup)

3. Run cv/get_hsv.py and double click on a few points along the line. Take a point below the lowest for each H, S and V. Take a point above the highest, you now have a range. Modify the settings file entry and enter the new range for either colour.

4. Run cv/get_check_hsv_values.py and press space to refresh the image. When you move the camera it should track the line.

5. Run cv-lane.py. The LED should turn on for a few seconds wile initialising and then start flashing. Once it starts flashing press any key when prompted to immediately start moving forward. Ensure the hardware safety switch is on or cv-lane will not run. You may flick the switch off to pause while it's running.