lane-detection
A video-based guiding system for autonomous car
Running method:
open the main.m and run.
These operations can be chosen according to the specific situation
- set the value of 'pfilename' in main.m to read the specific videoobject
- set the values of variates of 'startno' and 'endno' in main.m to control the first and last frames
- set the related camera parameters and IPM parameters in GetInfo.m
File description:
- main.m: the main function
- GetInfo.m: extract the related parameters of camera and IPM
- dfRoi.m: construct the trapezoid region of interest
- edgedetection.m: edge detection for the IPM grayscale image
- perspectivetrans.m: perspective transform
- TransformImagetoGround.m: transform the video image into the ground coordinate system
- TransformGroundtoImage.m: establish the mapping relationship between pixel coordinate and original image coordinate
- getvanishingpoint.m: get the position of vanishing point to determine the IPM area
- linefit.m: accomplish the lane detection
- turnfit.m: accomplish the lane tracking
- road lane video files: 'challenge.mp4'
Example: