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    Udacity Project Example - Writeup

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    gana essam
    The document provides a template for a writeup on an advanced lane finding project. It outlines the goals of the project which are to calibrate the camera, apply distortion correction, create a binary image using transforms, perform a perspective transform, detect lane pixels and fit polynomials to find the lane boundaries, determine curvature and vehicle position, and output the visual and numerical results. It then provides rubric points to address for each step of the pipeline for single images and video. The writeup would include code, images, and discussion of the approach, techniques used, areas for improvement.

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    Udacity Project Example - Writeup

    Uploaded by

    gana essam
    53 views6 pages
    The document provides a template for a writeup on an advanced lane finding project. It outlines the goals of the project which are to calibrate the camera, apply distortion correction, create a binary image using transforms, perform a perspective transform, detect lane pixels and fit polynomials to find the lane boundaries, determine curvature and vehicle position, and output the visual and numerical results. It then provides rubric points to address for each step of the pipeline for single images and video. The writeup would include code, images, and discussion of the approach, techniques used, areas for improvement.

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    udacity project example_writeup

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    udacity project example_writeup

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    The document provides a template for a writeup on an advanced lane finding project. It outlines the goals of the project which are to calibrate the camera, apply distortion correction, create a binary image using transforms, perform a perspective transform, detect lane pixels and fit polynomials to find the lane boundaries, determine curvature and vehicle position, and output the visual and numerical results. It then provides rubric points to address for each step of the pipeline for single images and video. The writeup would include code, images, and discussion of the approach, techniques used, areas for improvement.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    53 views6 pages

    Udacity Project Example - Writeup

    Uploaded by

    gana essam
    The document provides a template for a writeup on an advanced lane finding project. It outlines the goals of the project which are to calibrate the camera, apply distortion correction, create a binary image using transforms, perform a perspective transform, detect lane pixels and fit polynomials to find the lane boundaries, determine curvature and vehicle position, and output the visual and numerical results. It then provides rubric points to address for each step of the pipeline for single images and video. The writeup would include code, images, and discussion of the approach, techniques used, areas for improvement.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 6

    Example Writeup

    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 submit a pdf if you prefer.

    Advanced Lane Finding Project

    The goals / steps of this project are the following:

    Compute the camera calibration matrix and distortion coefficients given a set of chessboard images.
    Apply a distortion correction to raw images.
    Use color transforms, gradients, etc., to create a thresholded binary image.
    Apply a perspective transform to rectify binary image ("birds-eye view").
    Detect lane pixels and fit to find the lane boundary.
    Determine the curvature of the lane and vehicle position with respect to center.
    Warp the detected lane boundaries back onto the original image.
    Output visual display of the lane boundaries and numerical estimation of lane curvature and vehicle
    position.

    Rubric Points

    Camera Calibration

    1. Have the camera matrix and distortion coefficients been computed correctly and
    checked on one of the calibration images as a test?

    The code for this step is contained in the first code cell of the IPython notebook (or in lines # through # of the
    file called some_file.py ).

    I start by preparing "object points", which will be the (x, y, z) coordinates of the chessboard corners in the
    world. Here I am assuming the chessboard is fixed on the (x, y) plane at z=0, such that the object points are
    the same for each calibration image. Thus, objp is just a replicated array of coordinates, and objpoints
    will be appended with a copy of it every time I successfully detect all chessboard corners in a test image.
    imgpoints will be appended with the (x, y) pixel position of each of the corners in the image plane with
    each successful chessboard detection.
    I then used the output objpoints and imgpoints to compute the camera calibration and distortion
    coefficients using the cv2.calibrateCamera() function. I applied this distortion correction to the test
    image using the cv2.undistort() function and obtained this result:

    Pipeline (single images)

    1. Has the distortion correction been correctly applied to each image?

    To demonstrate this step, I will describe how I apply the distortion correction to one of the test images like this
    one:
    2. Has a binary image been created using color transforms, gradients or other methods?

    Oooh, binary image... you mean like this one? (note: this is not from one of the test images)

    3. Has a perspective transform been applied to rectify the image?

    The code for my perspective transform is includes a function called warper() , which appears in lines 1
    through 8 in the file example.py (output_images/examples/example.py) (or, for example, in the 3rd code
    cell of the IPython notebook). The warper() function takes as inputs an image ( img ), as well as source
    ( src ) and destination ( dst ) points. I chose the hardcode the source and destination points in the
    following manner:

    src = np.float32(
    [[(img_size[0] / 2) - 55, img_size[1] / 2 + 100],
    [((img_size[0] / 6) - 10), img_size[1]],
    [(img_size[0] * 5 / 6) + 60, img_size[1]],
    [(img_size[0] / 2 + 55), img_size[1] / 2 + 100]])
    dst = np.float32(
    [[(img_size[0] / 4), 0],
    [(img_size[0] / 4), img_size[1]],
    [(img_size[0] * 3 / 4), img_size[1]],
    [(img_size[0] * 3 / 4), 0]])
    This resulted in the following source and destination points:

    Source Destination

    585, 460 320, 0

    203, 720 320, 720

    1127, 720 960, 720

    695, 460 960, 0

    I verified that my perspective transform was working as expected by drawing the src and dst points onto
    a test image and its warped counterpart to verify that the lines appear parallel in the warped image.

    4. Have lane line pixels been identified in the rectified image and fit with a polynomial?

    Then I did some other stuff and fit my lane lines with a 2nd order polynomial kinda like this:
    5. Having identified the lane lines, has the radius of curvature of the road been estimated?
    And the position of the vehicle with respect to center in the lane?

    Yep, sure did!

    Pipeline (video)

    1. Does the pipeline established with the test images work to process the video?

    It sure does! Here's a link to my video result

    README

    1. Has a README file been included that describes in detail the steps taken to construct
    the pipeline, techniques used, areas where improvements could be made?

    You're reading it!


    Discussion
    Here I'll talk about the approach I took, what techniques I used, what worked and why, where the pipeline might
    fail and how I might improve it if I were going to pursue this project further.

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