mlsanityData to 14 Oct 2026

Keep your Eyes on the Lane: Real-time Attention-guided Lane Detection

arXiv 2010.12035 ↗First posted 22 Oct 2020cs.CVcited by 138

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Abstract (arXiv)

Modern lane detection methods have achieved remarkable performances in complex real-world scenarios, but many have issues maintaining real-time efficiency, which is important for autonomous vehicles. In this work, we propose LaneATT: an anchor-based deep lane detection model, which, akin to other generic deep object detectors, uses the anchors for the feature pooling step. Since lanes follow a regular pattern and are highly correlated, we hypothesize that in some cases global information may be crucial to infer their positions, especially in conditions such as occlusion, missing lane markers, and others. Thus, this work proposes a novel anchor-based attention mechanism that aggregates global information. The model was evaluated extensively on three of the most widely used datasets in the literature. The results show that our method outperforms the current state-of-the-art methods showing both higher efficacy and efficiency. Moreover, an ablation study is performed along with a discussion on efficiency trade-off options that are useful in practice.

Key facts. Cited by 138 papers in the map (data through 14 Oct 2026). First posted on arXiv 22 Oct 2020.

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Citing papers per year: 2021: 8; 2022: 24; 2023: 36; 2024: 40; 2025: 19; 2026: 11.

138 papers.

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  1. 2022MapTR: Structured Modeling and Learning for Online Vectorized HD Map Constructioncited by 314
  2. 2023MapTRv2: An End-to-End Framework for Online Vectorized HD Map Constructioncited by 193
  3. 2022PersFormer: 3D Lane Detection via Perspective Transformer and the OpenLane Benchmarkcited by 140
  4. 2022Rethinking Efficient Lane Detection via Curve Modelingcited by 88
  5. 2023PivotNet: Vectorized Pivot Learning for End-to-end HD Map Constructioncited by 85
  6. 2022CLRNet: Cross Layer Refinement Network for Lane Detectioncited by 82
  7. 2023End-to-End Vectorized HD-map Construction with Piecewise Bezier Curvecited by 82
  8. 2022A Keypoint-based Global Association Network for Lane Detectioncited by 68
  9. 2023Graph-based Topology Reasoning for Driving Scenescited by 54
  10. 2023Online Map Vectorization for Autonomous Driving: A Rasterization Perspectivecited by 54
  11. 2023Lane Graph as Path: Continuity-preserving Path-wise Modeling for Online Lane Graph Constructioncited by 50
  12. 2023Anchor3DLane: Learning to Regress 3D Anchors for Monocular 3D Lane Detectioncited by 48
38 more
  1. 2024HIMap: HybrId Representation Learning for End-to-end Vectorized HD Map Constructioncited by 48
  2. 2023LATR: 3D Lane Detection from Monocular Images with Transformercited by 44
  3. 2023Online Vectorized HD Map Construction using Geometrycited by 42
  4. 2021LaneAF: Robust Multi-Lane Detection with Affinity Fieldscited by 41
  5. 2022CurveFormer: 3D Lane Detection by Curve Propagation with Curve Queries and Attentioncited by 40
  6. 2022Ultra Fast Deep Lane Detection with Hybrid Anchor Driven Ordinal Classificationcited by 39
  7. 2024T2SG: Traffic Topology Scene Graph for Topology Reasoning in Autonomous Drivingcited by 35
  8. 2022Eigenlanes: Data-Driven Lane Descriptors for Structurally Diverse Lanescited by 32
  9. 2022Physical Backdoor Attacks to Lane Detection Systems in Autonomous Drivingcited by 31
  10. 2021Learning to Predict 3D Lane Shape and Camera Pose from a Single Image via Geometry Constraintscited by 30
  11. 2024Towards Robust Physical-world Backdoor Attacks on Lane Detectioncited by 26
  12. 2024Enhancing 3D Lane Detection and Topology Reasoning with 2D Lane Priorscited by 21
  13. 2022RCLane: Relay Chain Prediction for Lane Detectioncited by 20
  14. 2024LanEvil: Benchmarking the Robustness of Lane Detection to Environmental Illusionscited by 18
  15. 2023CLRerNet: Improving Confidence of Lane Detection with LaneIoUcited by 17
  16. 2024LaneCPP: Continuous 3D Lane Detection using Physical Priorscited by 17
  17. 2021End-to-End Deep Learning of Lane Detection and Path Prediction for Real-Time Autonomous Drivingcited by 16
  18. 2023ScalableMap: Scalable Map Learning for Online Long-Range Vectorized HD Map Constructioncited by 16
  19. 2023A Survey on Approximate Edge AI for Energy Efficient Autonomous Driving Servicescited by 14
  20. 2023ADNet: Lane Shape Prediction via Anchor Decompositioncited by 14
  21. 2022Multi-modal Fusion Technology based on Vehicle Information: A Surveycited by 13
  22. 2023BSNet: Lane Detection via Draw B-spline Curves Nearbycited by 13
  23. 2021K-Lane: Lidar Lane Dataset and Benchmark for Urban Roads and Highwayscited by 12
  24. 2023GroupLane: End-to-End 3D Lane Detection with Channel-wise Groupingcited by 11
  25. 2023VMA: Divide-and-Conquer Vectorized Map Annotation System for Large-Scale Driving Scenecited by 10
  26. 2024CurveFormer++: 3D Lane Detection by Curve Propagation with Temporal Curve Queries and Attentioncited by 10
  27. 2023Recurrent Generic Contour-based Instance Segmentation with Progressive Learningcited by 9
  28. 2023Recursive Video Lane Detectioncited by 9
  29. 2024Monocular 3D lane detection for Autonomous Driving: Recent Achievements, Challenges, and Outlookscited by 9
  30. 2024DV-3DLane: End-to-end Multi-modal 3D Lane Detection with Dual-view Representationcited by 9
  31. 2024MGMapNet: Multi-Granularity Representation Learning for End-to-End Vectorized HD Map Constructioncited by 9
  32. 2025TopoPoint: Enhance Topology Reasoning via Endpoint Detection in Autonomous Drivingcited by 9
  33. 2023Rail Detection: An Efficient Row-based Network and A New Benchmarkcited by 8
  34. 2024Anchor3DLane++: 3D Lane Detection via Sample-Adaptive Sparse 3D Anchor Regressioncited by 8
  35. 2022Lane Detection with Versatile AtrousFormer and Local Semantic Guidancecited by 7
  36. 2022Towards Driving-Oriented Metric for Lane Detection Modelscited by 7
  37. 2022M2-3DLaneNet: Exploring Multi-Modal 3D Lane Detectioncited by 7
  38. 2022BEV-LaneDet: a Simple and Effective 3D Lane Detection Baselinecited by 7

50 most cited of 138 All 138 (JSON)