mlsanityData to 7 Oct 2026

An Empirical Evaluation of Deep Learning on Highway Driving

arXiv 1504.01716 ↗First posted 7 Apr 2015cs.RO cs.CVcited by 35

Not on the map. Why?

Abstract (arXiv)

Numerous groups have applied a variety of deep learning techniques to computer vision problems in highway perception scenarios. In this paper, we presented a number of empirical evaluations of recent deep learning advances. Computer vision, combined with deep learning, has the potential to bring about a relatively inexpensive, robust solution to autonomous driving. To prepare deep learning for industry uptake and practical applications, neural networks will require large data sets that represent all possible driving environments and scenarios. We collect a large data set of highway data and apply deep learning and computer vision algorithms to problems such as car and lane detection. We show how existing convolutional neural networks (CNNs) can be used to perform lane and vehicle detection while running at frame rates required for a real-time system. Our results lend credence to the hypothesis that deep learning holds promise for autonomous driving.

Key facts. Cited by 35 papers in the map (data through 7 Oct 2026). First posted on arXiv 7 Apr 2015.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 13; 2022: 3; 2023: 6; 2024: 8; 2025: 3; 2026: 2.

35 papers.

Sort:

By area:

  1. 2024DME-Driver: Integrating Human Decision Logic and 3D Scene Perception in Autonomous Drivingcited by 41
  2. 2022Ultra Fast Deep Lane Detection with Hybrid Anchor Driven Ordinal Classificationcited by 39
  3. 2021Explainable Reinforcement Learning for Broad-XAI: A Conceptual Framework and Surveycited by 24
  4. 2021VIL-100: A New Dataset and A Baseline Model for Video Instance Lane Detectioncited by 21
  5. 2023Rethinking the Evaluation Protocol of Domain Generalizationcited by 20
  6. 2024A Survey on Evaluation of Out-of-Distribution Generalizationcited by 20
  7. 2024LaneCPP: Continuous 3D Lane Detection using Physical Priorscited by 17
  8. 2021End-to-End Deep Learning of Lane Detection and Path Prediction for Real-Time Autonomous Drivingcited by 16
  9. 2021Distributionally Robust Learning with Stable Adversarial Trainingcited by 14
  10. 2021Relative stability toward diffeomorphisms indicates performance in deep netscited by 12
  11. 2021Uniform Error and Posterior Variance Bounds for Gaussian Process Regression with Application to Safe Controlcited by 7
  12. 2021Instance-Aware Predictive Navigation in Multi-Agent Environmentscited by 5
23 more
  1. 2022How deep convolutional neural networks lose spatial information with trainingcited by 5
  2. 2023Visual Explanations with Attributions and Counterfactuals on Time Series Classificationcited by 5
  3. 2026SparseLaneSTP: Leveraging Spatio-Temporal Priors with Sparse Transformers for 3D Lane Detectioncited by 4
  4. 2025GLane3D : Detecting Lanes with Graph of 3D Keypointscited by 3
  5. 2021Temporal Feature Networks for CNN based Object Detectioncited by 2
  6. 2022Efficient Perception, Planning, and Control Algorithm for Vision-Based Automated Vehiclescited by 2
  7. 2025Rethinking Lanes and Points in Complex Scenarios for Monocular 3D Lane Detectioncited by 2
  8. 2021Spatial-Temporal-Fusion BNN: Variational Bayesian Feature Layercited by 1
  9. 2021Multi-task UNet architecture for end-to-end autonomous drivingcited by 1
  10. 2023Defending Adversarial Patches via Joint Region Localizing and Inpaintingcited by 1
  11. 2024Savvy: Trustworthy Autonomous Vehicles Architecturecited by 1
  12. 2024ENet-21: An Optimized light CNN Structure for Lane Detectioncited by 1
  13. 2024End-To-End Training and Testing Gamification Framework to Learn Human Highway Drivingcited by 1
  14. 2024Computer vision-based model for detecting turning lane features on Florida's public roadwayscited by 1
  15. 2025Work-Efficient Parallel Non-Maximum Suppression Kernelscited by 1
  16. 2021An Evolution of CNN Object Classifiers on Low-Resolution Imagescited by 0
  17. 2021Defending Against Adversarial Denial-of-Service Data Poisoning Attackscited by 0
  18. 2021WAD: A Deep Reinforcement Learning Agent for Urban Autonomous Drivingcited by 0
  19. 2023Augmenting End-to-End Steering Angle Prediction with CAN Bus Datacited by 0
  20. 2023Beyond One Model Fits All: Ensemble Deep Learning for Autonomous Vehiclescited by 0
  21. 2023Camera calibration for the surround-view system: a benchmark and datasetcited by 0
  22. 2024F1tenth Autonomous Racing With Offline Reinforcement Learning Methodscited by 0
  23. 2026HSDF-Lane: Height-Aligned Signed Distance Field with Semantic Lane Prior for 3D Lane Detectioncited by 0