Parameters on Hough to detect lines

the objects

edge detection

hougth

[H, T, R]=hough(BW,'RhoResolution', 1, 'ThetaResolution', 1);
P=houghpeaks(H,3);%'threshold');%,ceil(0.6*max(H(:))));
lines=houghlines(BW,T,R,P,'FillGap',4,'MinLength',3);
%imagesc(BW);
imshow(BW)
hold on;
%plot(lines(5).point1(1),lines(5).point1(2),'rd')
for i=1:length(lines)
  plot([lines(i).point1(1),lines(i).point2(1)],[lines(i).point1(2),lines(i).point2(2)],'Color','red','LineWidth',4)
end
hold off

the Right lane is missing.

Thus increase the peak to 8

P=houghpeaks(H,8);%'threshold');%,ceil(0.6*max(H(:))));

you can detect the right lane.

the problems is the ployfit result is not good.

the reason is that we detect many lines, and the merging lines process is not good. we should consider the theta and rho , then merge.

the result