- Reading the original image using SciPy.
- Cropping the image to the lower half (to remove non-bike lane features), and clip the bottom 10% of the picture as well (to remove my bike tire)
- Filtering the cropped image to only white pixels using a color threshold (any pixel that has a value greater than 200 in each of its red, green, and blue channels)
- Blurring the cropped+filtered image using gaussian blur, with a bandwidth value of 40 pixels.
- Binarizing the cropped + filtered + blurred image i.e. setting the pixels that are lighter than blurred image all the way to 1, set all other pixels to 0.