[R] Robust Lane detection and tracking framework for Autonomous Vehicles(Indian Roads) using Deep CNN, Ext. Hough Transform and Kalman Filter.
Being part of the perception team at an Autonomous Vehicle research lab I had been working on the development of the lane detection and tracking module for the vehicle catering to Indian road scenario. What made the project challenging were many factors unique to the Indian landscape like highly weathered lanes and unusually congested traffic problems which took the project close to 8 months to complete.The framework is trained and evaluated on the data collected by our experimental vehicle on Indian roads. The dataset consists of a total of 4500 frames with varying driving scenarios, including highways, urban roads, traffic, shadowed lanes, partially visible lanes and curved lanes.
Project Page/Github link : https://github.com/ayush1997/Robust-Lane-Detection-and-Tracking