Having ETA remember lines will prevent noise from causing sudden deviations in the detected lane.
An example of this can be seen in this image which is taken from this website. The blue lines represent the current frame and the green lines represent the averaged past frames polynomial fit. In this example, the current frame has lines that significantly deviate from the averaged lines. A secondary objective would be to compare the line in the current frame against the averaged line in order to ignore lines that significantly deviate from the previous x lines.
One way of doing this would be to create an empty array that will store the previous x number of lanes which would then be averaged to draw a single extrapolated lane. This method is discussed here.
Having ETA remember lines will prevent noise from causing sudden deviations in the detected lane.
An example of this can be seen in this image which is taken from this website. The blue lines represent the current frame and the green lines represent the averaged past frames polynomial fit. In this example, the current frame has lines that significantly deviate from the averaged lines. A secondary objective would be to compare the line in the current frame against the averaged line in order to ignore lines that significantly deviate from the previous x lines.
One way of doing this would be to create an empty array that will store the previous x number of lanes which would then be averaged to draw a single extrapolated lane. This method is discussed here.