I’ve realized why most of the demos for self driving cars and optical flow are on a highway or mostly straight road with distinct lines. Haven’t been able to make this shine with optical flow in this scenario, it’s works, but not well. The object tracking is almost workable though I need to train the objects a little better. This was my first attempt and a weekend on a Raspberry Pi 3 @ 11fps

In my next attempt I will take this on the highway and do traditional lane changes. Stay tuned!