writeup_template.md

Finding Lane Lines on the Road

Writeup Template

You can use this file as a template for your writeup if you want to submit it as a markdown file. But feel free to use some other method and submit a pdf if you prefer.

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Finding Lane Lines on the Road

The goals / steps of this project are the following:

• Make a pipeline that finds lane lines on the road
• Reflect on your work in a written report

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Reflection

1. Describe your pipeline. As part of the description, explain how you modified the draw_lines() function.

1. Convert to grayscale

gray = grayscale(image)

2. Run Gaussian blur

blur_gray = gaussian_blur(gray, kernel_size)

3. Run Canny detection with threshold [50, 150]

edges = canny(blur_gray, low_threshold, high_threshold)

4. Create the mask

imshape = image.shape
vertices = np.array([[(0, imshape[0]), (450, 320), (490, 320), (imshape[1], imshape[0])]], dtype=np.int32)
masked_edges = region_of_interest(edges, vertices)

5. Run Hough on edge detected image

line_image = hough_lines(masked_edges, rho, theta, threshold, min_line_length, max_line_gap)

6. Overlay the image with lines over the original image

lines_edges = weighted_img(line_image, image, α=0.8, β=1., λ=0.)

2. Identify potential shortcomings with your current pipeline

One potential shortcoming would be what would happen when ...

Another shortcoming could be ...

3. Suggest possible improvements to your pipeline

A possible improvement would be to ...

Another potential improvement could be to ...