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Modified 2019-04-28 by tanij

  • We would like to improve the performance of our line detector in terms of illumination invariance.
  • We do this by computing a color filter when needed, and then apply it.
  • Some ideal colors for the floor tile (black), and the lane lines (white, yellow and red) are defined.
  • K-means clustering is performed on the image pixels. The clusters are then compared to black, white and yellow.
  • The linear color transformation is fitted using least squares to shift the clusters centers towards what they should ideally be.

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