LanePrediction

ENPM673 – Perception for Autonomous Robots – Spring 2022

Instructions to Run Programs:

Problem 1: Histogram equalization

Even before running the code, Please goto histogram_adapt_equalization.py line number 99 and change the path to ./Data folder to feed the input images

git clone https://github.com/sumedhreddy90/LaneCurvePrediction.git
cd Code
python3 histogram_adapt_equalization.py

Output:

Histogram Frame:

Adaptive Histogram Frame:

Comparision between Histogram and AH

Problem 2: Straight Lane Detection

cd Code
python3 straight_lane.py

Output

Canny Edge Detection: Warped Edges: Final Straight lane detection

Problem 3: Predict Turn

cd Code
python3 lane_predict.py

Output

Undistort Frame Bird eye- Warped Frame Detected Lanes - colors mask Final Road lane detection Combined Output

Link to output video for problem 3: https://drive.google.com/file/d/1DzkIUOs3ekwaCDiMnLvYAXV7RbqTusmu/view?usp=sharing