# RESA: Recurrent Feature-Shift Aggregator for Lane Detection

arXiv: https://arxiv.org/abs/2008.13719 · HTML: https://mlsanity.com/paper/2008.13719/

## Key facts

- Cited by 77 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 31 Aug 2020.

## Built on by (most cited first, 30 of 77)

- [Rethinking Efficient Lane Detection via Curve Modeling](https://mlsanity.com/paper/2203.02431/) (2022)
- [CLRNet: Cross Layer Refinement Network for Lane Detection](https://mlsanity.com/paper/2203.10350/) (2022)
- [End-to-End Vectorized HD-map Construction with Piecewise Bezier Curve](https://mlsanity.com/paper/2306.09700/) (2023)
- [ONCE-3DLanes: Building Monocular 3D Lane Detection](https://mlsanity.com/paper/2205.00301/) (2022)
- [LATR: 3D Lane Detection from Monocular Images with Transformer](https://mlsanity.com/paper/2308.04583/) (2023)
- [LaneAF: Robust Multi-Lane Detection with Affinity Fields](https://mlsanity.com/paper/2103.12040/) (2021)
- [CurveFormer: 3D Lane Detection by Curve Propagation with Curve Queries and Attention](https://mlsanity.com/paper/2209.07989/) (2022)
- [Ultra Fast Deep Lane Detection with Hybrid Anchor Driven Ordinal Classification](https://mlsanity.com/paper/2206.07389/) (2022)
- [Learning to Drive by Watching YouTube Videos: Action-Conditioned Contrastive Policy Pretraining](https://mlsanity.com/paper/2204.02393/) (2022)
- [Eigenlanes: Data-Driven Lane Descriptors for Structurally Diverse Lanes](https://mlsanity.com/paper/2203.15302/) (2022)
- [Physical Backdoor Attacks to Lane Detection Systems in Autonomous Driving](https://mlsanity.com/paper/2203.00858/) (2022)
- [Learning to Predict 3D Lane Shape and Camera Pose from a Single Image via Geometry Constraints](https://mlsanity.com/paper/2112.15351/) (2021)
- [Towards Robust Physical-world Backdoor Attacks on Lane Detection](https://mlsanity.com/paper/2405.05553/) (2024)
- [LanEvil: Benchmarking the Robustness of Lane Detection to Environmental Illusions](https://mlsanity.com/paper/2406.00934/) (2024)
- [CLRerNet: Improving Confidence of Lane Detection with LaneIoU](https://mlsanity.com/paper/2305.08366/) (2023)
- [LaneCPP: Continuous 3D Lane Detection using Physical Priors](https://mlsanity.com/paper/2406.08381/) (2024)
- [ADNet: Lane Shape Prediction via Anchor Decomposition](https://mlsanity.com/paper/2308.10481/) (2023)
- [ADMap: Anti-disturbance framework for reconstructing online vectorized HD map](https://mlsanity.com/paper/2401.13172/) (2024)
- [Multi-modal Fusion Technology based on Vehicle Information: A Survey](https://mlsanity.com/paper/2211.06080/) (2022)
- [BSNet: Lane Detection via Draw B-spline Curves Nearby](https://mlsanity.com/paper/2301.06910/) (2023)
- [CurveFormer++: 3D Lane Detection by Curve Propagation with Temporal Curve Queries and Attention](https://mlsanity.com/paper/2402.06423/) (2024)
- [Recurrent Generic Contour-based Instance Segmentation with Progressive Learning](https://mlsanity.com/paper/2301.08898/) (2023)
- [Recursive Video Lane Detection](https://mlsanity.com/paper/2308.11106/) (2023)
- [Monocular 3D lane detection for Autonomous Driving: Recent Achievements, Challenges, and Outlooks](https://mlsanity.com/paper/2404.06860/) (2024)
- [DV-3DLane: End-to-end Multi-modal 3D Lane Detection with Dual-view Representation](https://mlsanity.com/paper/2406.16072/) (2024)
- [Lane Detection with Versatile AtrousFormer and Local Semantic Guidance](https://mlsanity.com/paper/2203.04067/) (2022)
- [Towards Driving-Oriented Metric for Lane Detection Models](https://mlsanity.com/paper/2203.16851/) (2022)
- [BEV-LaneDet: a Simple and Effective 3D Lane Detection Baseline](https://mlsanity.com/paper/2210.06006/) (2022)
- [PriorLane: A Prior Knowledge Enhanced Lane Detection Approach Based on Transformer](https://mlsanity.com/paper/2209.06994/) (2022)
- [End-to-End Lane detection with One-to-Several Transformer](https://mlsanity.com/paper/2305.00675/) (2023)

## Abstract (arXiv)

Lane detection is one of the most important tasks in self-driving. Due to various complex scenarios (e.g., severe occlusion, ambiguous lanes, etc.) and the sparse supervisory signals inherent in lane annotations, lane detection task is still challenging. Thus, it is difficult for the ordinary convolutional neural network (CNN) to train in general scenes to catch subtle lane feature from the raw image. In this paper, we present a novel module named REcurrent Feature-Shift Aggregator (RESA) to enrich lane feature after preliminary feature extraction with an ordinary CNN. RESA takes advantage of strong shape priors of lanes and captures spatial relationships of pixels across rows and columns. It shifts sliced feature map recurrently in vertical and horizontal directions and enables each pixel to gather global information. RESA can conjecture lanes accurately in challenging scenarios with weak appearance clues by aggregating sliced feature map. Moreover, we propose a Bilateral Up-Sampling Decoder that combines coarse-grained and fine-detailed features in the up-sampling stage. It can recover the low-resolution feature map into pixel-wise prediction meticulously. Our method achieves state-of-the-art results on two popular lane detection benchmarks (CULane and Tusimple). Code has been made available at: https://github.com/ZJULearning/resa.