The RANSAC_based_lane_detection detects lanes in the images which it receives from the vehicle and creates a waypoint for the vehicle. If there is more than one lane detection result, the package provides a waypoint. If it does not find a lane, it does not provide a waypoint.
Detector using the following algorithms:
- Convert to Top View Image
- Get a binary image for both yellow and white and merge it.
- Set the ROI
- Counts the number of points for each x-coordinate and determine a point to start finding a lane (It would be better to use PCA rather than this).
- a.Using RANSAC, find the coefficients in a small windows which generated from a start point. From coefficients, determine a next start point.
- ubuntu (16.04 LTS)
- Ros kinetic
- usb_cam/image_raw/compressed
go to your workspace src
dir, clone this package
git clone https://github.com/Epsilon8854/RANSAC_based_lane_dection.git