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An opencv-based implementation of a self-driving car module responsible for detecting lane lines under different lighting conditions, pavement textures and curves.

Implementation includes the following:

• Camera calibration and distortion correction.
• Applying Gaussian Blur.
• Edge Detection using Sobel.
• Color/gradient thresholding.
• Perspective transform.
• Detecting lane lines using peaks of histogram and sliding window.
• Drawing lanes on the original image
• Determining the lane curvature.

1. pip install numpy
2. pip install matplotlib
3. pip install opencv-python