Algorithms for a line follower robot (with camera) capable following very sharp turns and junction

Question

I want to write code (python,opencv) for a line follower robot equipped with a camera and Raspberry Pi. I want to make to robot go has fast as possible

1. The course has few very sharp turns like this: I'm assuming that using ROI (region of interest) will not work well when the robot in near the turn (it will also capture/"see" the other line) - for example as shown below. What is the best approach here?

2. In the course there is a junction as shown in below image,

   How to "understand" that this is a junction? and if the robot is coming for the bottom of the image, how to make the algorithm continue driving straight and not get confused by the horizontal line?

Answer 1

I can recommend this awesome video on YouTube:

https://www.youtube.com/watch?v=tpwokAPiqfs&t=868s

It contains several episodes and teachs a lot of useful stuff. Good luck!!!