Adaptive order explicit polynomials for road edge tracking

This paper presents an algorithm that uses a variable order explicit polynomial to track lane edges. The order is selected online using the sequential sum of squares F test. Discontinuous edges are estimated using a MLE of the model estimate and a linear estimate generated using principal component analysis. An online estimation of the reliability of the model is generated recursively. The algorithm was tested on a number of sequences including sequences with strong shadows, and was found to perform satisfactorily.