Line Detector using OpenCV

As the perception team lead of the University of Pittsburgh’s Robotics and Automation Society, I was in charge of developing a vision module that would detect spray-painted white lines on a grass field. These lines marked the boundaries of the course which the robot could not cross, so detecting them accurately and quickly was imperative. Using ROS, OpenCV, and an Intel RealSense D435 camera I successfully accomplished the task. Check out the demo video.

Note: In the demo video, cones are erroneously detected as lines. This is okay because we post-processed the detections and purged detections with z-values above an acceptable threshold.