Prasheel Renkuntla Shubham Sonawane Raj Prakash Shinde
The project demonstrates Video enhancing and Lane detection for self driving cars on the KITTI and Udacity dataset.
- Ubuntu 16
- Python 3.7
- OpenCV 4.2
- Numpy
- copy
- sys
- argparse
To run the Video enhancement on Night ride video
python3.7 P1-video_correction.py
To run the lane detection on images, 2(a) Udacity Dataset -
python3.7 P2-1-Homography.py
To run the lane detection on challenge video, 2(b) KITTI Dataset -
python3.7 P2-2-challenge_accepted.py
The original night ride frame is shown on the left and the CLAHE processed frame is on the right for the image given below-
For the Udacity Dataset, we have determined the homography points from the image as shown below-
The final output for turn prediction and lane detection is given below-
The output from the challenge video is shown here-
The Output folder consists of video results from the KITTI and Udacity datasets only.
- https://stackoverflow.com/questions/19890054/how-to-sharpen-an-image-in-opencv
- https://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_imgproc/py_filtering/py_filtering.html
- https://www.pyimagesearch.com/2015/10/05/opencv-gamma-correction/
- https://medium.com/@rndayala/image-histograms-in-opencv-40ee5969a3b7
- https://answers.opencv.org/question/193276/how-to-change-brightness-of-an-image-increase-or-decrease/
- https://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_imgproc/py_histograms/py_histogram_equalization/py_histogram_equalization.html
- https://www.programcreek.com/python/example/89353/cv2.createCLAHE
- http://amroamroamro.github.io/mexopencv/opencv/clahe_demo_gui.html
- https://en.wikipedia.org/wiki/Kernel_(image_processing)
- https://answers.opencv.org/question/175912/how-to-display-multiple-images-in-one-window/