I have a map with a lane in it. It has yellow borders and the rest of the map doesn’t have any yellow in it. I already wrote a program to detect the lanes. Now I want my robot to avoid crossing these lines while also avoiding obstacles.

I have already seen everything related to marking regions when the map is already given… but I want to be able to generalize the robot to navigate any map that has yellow lanes in it. Something like detecting yellow as walls on the 2D costmap would also be cool. I am open to using any sensor for this.

(Some might wonder why I want it in real-time… I was using a 2D LiDAR and it obviously doesn’t register yellow lanes as walls or obstacles)

How should I go about this?