mlsanityData to 7 Oct 2026

Deep Multi-Sensor Lane Detection

arXiv 1905.01555 ↗First posted 4 May 2019cs.CVcited by 30

Not on the map. Why?

Abstract (arXiv)

Reliable and accurate lane detection has been a long-standing problem in the field of autonomous driving. In recent years, many approaches have been developed that use images (or videos) as input and reason in image space. In this paper we argue that accurate image estimates do not translate to precise 3D lane boundaries, which are the input required by modern motion planning algorithms. To address this issue, we propose a novel deep neural network that takes advantage of both LiDAR and camera sensors and produces very accurate estimates directly in 3D space. We demonstrate the performance of our approach on both highways and in cities, and show very accurate estimates in complex scenarios such as heavy traffic (which produces occlusion), fork, merges and intersections.

Key facts. Cited by 30 papers in the map (data through 7 Oct 2026). First posted on arXiv 4 May 2019.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 10; 2022: 8; 2023: 1; 2024: 6; 2025: 3; 2026: 2.

30 papers.

Sort:

By area:

  1. 2021HDMapNet: An Online HD Map Construction and Evaluation Frameworkcited by 280
  2. 2021MP3: A Unified Model to Map, Perceive, Predict and Plancited by 211
  3. 2022PersFormer: 3D Lane Detection via Perspective Transformer and the OpenLane Benchmarkcited by 140
  4. 2021Semantics for Robotic Mapping, Perception and Interaction: A Surveycited by 56
  5. 2023Anchor3DLane: Learning to Regress 3D Anchors for Monocular 3D Lane Detectioncited by 48
  6. 2022ONCE-3DLanes: Building Monocular 3D Lane Detectioncited by 44
  7. 2021LaneAF: Robust Multi-Lane Detection with Affinity Fieldscited by 41
  8. 2021Learning to Predict 3D Lane Shape and Camera Pose from a Single Image via Geometry Constraintscited by 30
  9. 2021Lane Graph Estimation for Scene Understanding in Urban Drivingcited by 18
  10. 2021A Simple and Efficient Multi-task Network for 3D Object Detection and Road Understandingcited by 17
  11. 2021K-Lane: Lidar Lane Dataset and Benchmark for Urban Roads and Highwayscited by 11
  12. 2022WS-3D-Lane: Weakly Supervised 3D Lane Detection With 2D Lane Labelscited by 9
18 more
  1. 2024Monocular 3D lane detection for Autonomous Driving: Recent Achievements, Challenges, and Outlookscited by 9
  2. 2024DV-3DLane: End-to-end Multi-modal 3D Lane Detection with Dual-view Representationcited by 9
  3. 2024Anchor3DLane++: 3D Lane Detection via Sample-Adaptive Sparse 3D Anchor Regressioncited by 8
  4. 2022M2-3DLaneNet: Exploring Multi-Modal 3D Lane Detectioncited by 7
  5. 2022BEV-LaneDet: a Simple and Effective 3D Lane Detection Baselinecited by 7
  6. 2021A novel multimodal fusion network based on a joint coding model for lane line segmentationcited by 6
  7. 2022Interactive Multi-scale Fusion of 2D and 3D Features for Multi-object Trackingcited by 4
  8. 2022Row-wise LiDAR Lane Detection Network with Lane Correlation Refinementcited by 4
  9. 2024Monocular Lane Detection Based on Deep Learning: A Surveycited by 4
  10. 2022Reconstruct from BEV: A 3D Lane Detection Approach based on Geometry Structure Priorcited by 2
  11. 2024Online Temporal Fusion for Vectorized Map Construction in Mapless Autonomous Drivingcited by 2
  12. 2021Non-parametric Memory for Spatio-Temporal Segmentation of Construction Zones for Self-Drivingcited by 1
  13. 2025Datasets for Lane Detection in Autonomous Driving: A Comprehensive Reviewcited by 1
  14. 2025Learning Isometric Embeddings of Road Networks using Multidimensional Scalingcited by 1
  15. 2026Efficient Sequential Neural Network with Spatial-Temporal Attention and Linear LSTM for Robust Lane Detection Using Multi-Frame Imagescited by 1
  16. 2024Enhance DNN Adversarial Robustness and Efficiency via Injecting Noise to Non-Essential Neuronscited by 0
  17. 2025Pandar128 dataset for lane line detectioncited by 0
  18. 20263D Lane Detection with Odometry for High-Speed Vehicle Racingcited by 0