** Project 1 Finding Lane Lines on the Road **

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

Reflection

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

My pipeline consisted of 5 steps. First, I converted the images to grayscale, then I removed image noise I used Gaussian blurring, then I detected Canny edges and defined the Region of interest, after that I found lines using Hough transform.

In order to draw a single line for the left and right lanes, I modified the draw_lines() function and for every line found slope and intercept and I divided slopes into two parts positive slopes for left line and negative slopes for right line then I found from these mean of slope and intercept for left and right lines

2. Identify potential shortcomings with your current pipeline

This approach will not work when road is curved and also when snow also if road is not smooth the edge detector detects a lot of lines that are not lane lines

3. Suggest possible improvements to your pipeline

Try to take account curvatures, also maybe it will be good to detect lines by color by filtering image using hsv conversion