mlsanityData to 7 Oct 2026

Real time Detection of Lane Markers in Urban Streets

arXiv 1411.7113 ↗First posted 26 Nov 2014cs.CV cs.ROcited by 41

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Abstract (arXiv)

We present a robust and real time approach to lane marker detection in urban streets. It is based on generating a top view of the road, filtering using selective oriented Gaussian filters, using RANSAC line fitting to give initial guesses to a new and fast RANSAC algorithm for fitting Bezier Splines, which is then followed by a post-processing step. Our algorithm can detect all lanes in still images of the street in various conditions, while operating at a rate of 50 Hz and achieving comparable results to previous techniques.

Key facts. Cited by 41 papers in the map (data through 7 Oct 2026). First posted on arXiv 26 Nov 2014.

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Citing papers per year: 2018: 1; 2019: 0; 2020: 0; 2021: 6; 2022: 10; 2023: 9; 2024: 8; 2025: 3; 2026: 4.

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  1. 2022PersFormer: 3D Lane Detection via Perspective Transformer and the OpenLane Benchmarkcited by 140
  2. 2023OpenLane-V2: A Topology Reasoning Benchmark for Unified 3D HD Mappingcited by 83
  3. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  4. 2023Anchor3DLane: Learning to Regress 3D Anchors for Monocular 3D Lane Detectioncited by 48
  5. 2022Ultra Fast Deep Lane Detection with Hybrid Anchor Driven Ordinal Classificationcited by 39
  6. 2022Eigenlanes: Data-Driven Lane Descriptors for Structurally Diverse Lanescited by 32
  7. 2022UniFusion: Unified Multi-view Fusion Transformer for Spatial-Temporal Representation in Bird's-Eye-Viewcited by 24
  8. 2023Open-sourced Data Ecosystem in Autonomous Driving: the Present and Futurecited by 22
  9. 2021VIL-100: A New Dataset and A Baseline Model for Video Instance Lane Detectioncited by 21
  10. 2023MV-Map: Offboard HD-Map Generation with Multi-view Consistencycited by 19
  11. 2024LanEvil: Benchmarking the Robustness of Lane Detection to Environmental Illusionscited by 18
  12. 2022SIMBAR: Single Image-Based Scene Relighting For Effective Data Augmentation For Automated Driving Vision Taskscited by 15
29 more
  1. 2023Recursive Video Lane Detectioncited by 9
  2. 2023Rail Detection: An Efficient Row-based Network and A New Benchmarkcited by 8
  3. 2024Anchor3DLane++: 3D Lane Detection via Sample-Adaptive Sparse 3D Anchor Regressioncited by 8
  4. 2022Multi-level Domain Adaptation for Lane Detectioncited by 6
  5. 2021A Hybrid Spatial-temporal Deep Learning Architecture for Lane Detectioncited by 5
  6. 2024LSM: A Comprehensive Metric for Assessing the Safety of Lane Detection Systems in Autonomous Drivingcited by 4
  7. 2024OMR: Occlusion-Aware Memory-Based Refinement for Video Lane Detectioncited by 4
  8. 2024Monocular Lane Detection Based on Deep Learning: A Surveycited by 4
  9. 2018Learning Temporal Strategic Relationships using Generative Adversarial Imitation Learningcited by 3
  10. 2021Harmonious Semantic Line Detection via Maximal Weight Clique Selectioncited by 3
  11. 2021Deep Learning for Embodied Vision Navigation: A Surveycited by 2
  12. 2022Reconstruct from BEV: A 3D Lane Detection Approach based on Geometry Structure Priorcited by 2
  13. 2022Vision-Based Robust Lane Detection and Tracking under Different Challenging Environmental Conditionscited by 2
  14. 2021ContinuityLearner: Geometric Continuity Feature Learning for Lane Segmentationcited by 1
  15. 2022RONELDv2: A faster, improved lane tracking methodcited by 1
  16. 2025SSF-PAN: Semantic Scene Flow-Based Perception for Autonomous Navigation in Traffic Scenarioscited by 1
  17. 2025Datasets for Lane Detection in Autonomous Driving: A Comprehensive Reviewcited by 1
  18. 2026Efficient Sequential Neural Network with Spatial-Temporal Attention and Linear LSTM for Robust Lane Detection Using Multi-Frame Imagescited by 1
  19. 2026Benchmarking the Robustness of Autonomous Driving to Environmental Illusions: A Lane Perception Perspectivecited by 1
  20. 2021A Robust Lane Detection Associated with Quaternion Hardy Filtercited by 0
  21. 2022Contextual road lane and symbol generation for autonomous drivingcited by 0
  22. 2023LVLane: Deep Learning for Lane Detection and Classification in Challenging Conditionscited by 0
  23. 2023Nonparametric Spatio-Temporal Joint Probabilistic Data Association Coupled Filter and Interfering Extended Target Trackingcited by 0
  24. 2023ElasticLaneNet: An Efficient Geometry-Flexible Approach for Lane Detectioncited by 0
  25. 2024Zero-BEV: Zero-shot Projection of Any First-Person Modality to BEV Mapscited by 0
  26. 2024Towards Scenario- and Capability-Driven Dataset Development and Evaluation: An Approach in the Context of Mapless Automated Drivingcited by 0
  27. 2025SnowyLane: Robust Lane Detection on Snow-covered Rural Roads Using Infrastructural Elementscited by 0
  28. 2026GFSR: Geometric Fidelity and Spatial Refinement for Reliable Lane Detectioncited by 0
  29. 20263D Lane Detection with Odometry for High-Speed Vehicle Racingcited by 0