Detected highway lane boundaries on a video stream with OpenCV image analysis techniques, including camera calibration matrix, distortion correction, color transforms, gradients, etc., to create a thresholded binary image, a perspective transform to rectify binary image ("birds-eye view"). Detected lane pixels and fit to find the lane boundary, determined the curvature of the lane and vehicle position with respect to center. Warped the detected lane boundaries back onto the original image.
