In this project, I built a computer vision pipeline for detecting lane lines and creating averaged and extrapolated boundary lines. The pipeline is as follows:

1. Convert frame to grayscale
2. Create masks for yellow and white pixels
3. Apply a Gaussian smoothing
4. Apply a Canny edge detection
5. Create an additional mask to focus on the "region of interest" in front of the vehicle
6. Convert the points(i.e. pixels) in XY space to a line in Hough space
7. Where the lines in Hough space intersect (i.e. a point) a line exists in XY space
8. Using the extrema of the lines generated, create two averaged lines
9. Create two averaged lines across frames for a smooth video playback
10. Draw the lines to each frame

Raw lines after conversion from Hough space

Averaged lines for smooth playback