Taking frame as input from RaspiCam
Denoising frame with
Finding edges with
edge detection, OpenCV function
Finding yellow colors in the frame with
After applying step 3 and step 4 we use
for two frames, this function returns intersection points of two frames.
Also applying dilate function will help you with finding lines by increasing pixels near our line pixels.
Finally we have to mask our frame for avoiding unnecessary lines and pixels in our frame
After this step we just apply
function and find right and left lines appropriately.
With the help of right and left lines we will predict turn in predictTurn function
In this project I've made also traffic light recognition with color filtering and traffic sign recognition with Cascade classifier (xml)