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Lane Line Detection

This document describes a lane line detection project that uses Python and OpenCV. It contains algorithms for Gaussian blur, Canny edge detection, and Hough transform to detect lane lines. The framework uses Python with OpenCV and Numpy libraries. Key modules are OpenCV, Numpy, and Matplotlib. The analysis section includes a flowchart showing the input and output of the process. The conclusion states that OpenCV functions, edge detection, masking, and Hough transform were used to identify lane lines in images.

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Naveen Sagar
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90 views11 pages

Lane Line Detection

This document describes a lane line detection project that uses Python and OpenCV. It contains algorithms for Gaussian blur, Canny edge detection, and Hough transform to detect lane lines. The framework uses Python with OpenCV and Numpy libraries. Key modules are OpenCV, Numpy, and Matplotlib. The analysis section includes a flowchart showing the input and output of the process. The conclusion states that OpenCV functions, edge detection, masking, and Hough transform were used to identify lane lines in images.

Uploaded by

Naveen Sagar
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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LANE LINE DETECTION

SAGAR RUDAGI (1BM17CS085)


ROMIL K BALAR(1BM17CS081)
PUNEETH K(1BM17CS067)
ROHINI (1BM17CS078)
Contents

u Abstract
u Algorithms description
u Frame work
u Modules
u Analysis
u Conclusion
Abstract

u Detecting Lane lines is one of the most fundamental concepts


for building a Self Driving Car. For vehicles to be able to drive
by themselves, they need to understand their surrounding
world like human drivers, so they can navigate their way in
streets, pause at stop signs and traffic lights, and avoid
hitting obstacles such as other cars and pedestrians. Based
on the problems encountered ,we are trying to
demonstrate the lane line detection.
Algorithm description

1.Gaussian blur
Each of the pixels for a grayscale image is described by a single number that
describes the brightness of the pixel. In order to smoothen an image, the
typical answer would be to modify the value of a pixel with the average value
of the pixel intensities around it. Averaging out the pixels to reduce the noise
will be done by a kernel. This kernel of normally distributed
numbers(np.array([[1,2,3],[4,5,6],[7,8,9]]) is run across our entire image and sets
each pixel value equal to the weighted average of its neighboring pixels, thus
smoothening our image. We generally use a kernel of some specific size(say
5x5) and a deviation
blur= cv2.GaussianBlur(gray,(5,5),0)
Algorithm description

2.Canny edge detection


The goal of edge detection is to identify the boundaries of objects within
images. A detection is used to try and find regions in an image where there is
a sharp change in intensity. We can recognize an image as a matrix or an
array of pixels. A pixel contains the light intensity at some location in the
image. Each pixel's intensity is denoted by a numeric value that ranges from 0
to 255.an edge is defined by differences in intensity of adjacent pixels. If a
gradient is larger than the high_threshold, then it is accepted as an edge pixel.
If it is below the low_threshold, it is rejected.
cv2.Canny(image,low_threshold,high_threshhold)
Algorithm description

3.Hough Transform
After we have successfully detected edges in our image, it's time to detect
lane lines in our image, for which we can use the Hough transform. Before that,
we need to find the Region on interest in our image. For that, we use
Matplotlib to get a fair enough idea about the coordinate values of the
image. Once we are done, we create a mask with a polygon over it. Now, we
apply the bitwise_and in the original image and the mask to obtain the
masked_image, which essentially will contain only the region on interest. we
will use Hough Transform to detect Straight lines in our image.
Framework

• Python
Python is a framework used for lane line detection project. OpenCV-Python is
a library of Python bindings designed to solve computer vision problems.
OpenCV-Python makes use of Numpy, which is a highly optimized library for
numerical operations with a MATLAB-style syntax. All the OpenCV array
structures are converted to and from Numpy arrays. This also makes it easier to
integrate with other libraries that use Numpy such as Matplotlib.
Modules

Modules used are:


§ OpenCV
OpenCV is a library of programming functions mainly aimed at real-time
computer vision.
§ Numpy
Numpy is a library for the Python programming language, adding support for large,
multi-dimensional arrays and matrices.
§ Matplotlib
Matplotlib is a plotting library for the Python programming language
Analysis

Flowchart:
Analysis

Input Output
Conclusion

u In the methodology, we made use of the OpenCV library and its functions
such as the Canny Function through which we achieved edge detection. Then
we prepared a mask of zero intensity and mapped our region of interest by
performing the bitwise operation. Then we used the Hough Transform
technique that detected the straight lines in the image and identified the lane
lines. We made use of the polar coordinates since the Cartesian coordinates
don’t give us an appropriate slope of vertical and horizontal lines. Finally, we
combined the lane image with our zero-intensity image to show lane lines.

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