# ContinuityLearner: Geometric Continuity Feature Learning for Lane Segmentation

arXiv: https://arxiv.org/abs/2108.03507 · HTML: https://mlsanity.com/paper/2108.03507/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 12 of its 26 references that are in the map.
- First posted on arXiv 7 Aug 2021.

## Builds on (most cited first, 12 of 12)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Inception-v4, Inception-ResNet and the Impact of Residual Connections on Learning](https://mlsanity.com/paper/1602.07261/) (2016)
- [Spatial As Deep: Spatial CNN for Traffic Scene Understanding](https://mlsanity.com/paper/1712.06080/) (2017)
- [Learning Lightweight Lane Detection CNNs by Self Attention Distillation](https://mlsanity.com/paper/1908.00821/) (2019)
- [Towards End-to-End Lane Detection: an Instance Segmentation Approach](https://mlsanity.com/paper/1802.05591/) (2018)
- [VPGNet: Vanishing Point Guided Network for Lane and Road Marking Detection and Recognition](https://mlsanity.com/paper/1710.06288/) (2017)
- [Deep TEN: Texture Encoding Network](https://mlsanity.com/paper/1612.02844/) (2016)
- [Real time Detection of Lane Markers in Urban Streets](https://mlsanity.com/paper/1411.7113/) (2014)
- [LaneNet: Real-Time Lane Detection Networks for Autonomous Driving](https://mlsanity.com/paper/1807.01726/) (2018)
- [EL-GAN: Embedding Loss Driven Generative Adversarial Networks for Lane Detection](https://mlsanity.com/paper/1806.05525/) (2018)
- [FastDraw: Addressing the Long Tail of Lane Detection by Adapting a Sequential Prediction Network](https://mlsanity.com/paper/1905.04354/) (2019)
- [ReNet: A Recurrent Neural Network Based Alternative to Convolutional Networks](https://mlsanity.com/paper/1505.00393/) (2015)

## Built on by (most cited first, 1 of 1)

- [Dense Hybrid Proposal Modulation for Lane Detection](https://mlsanity.com/paper/2304.14874/) (2023)

## Abstract (arXiv)

Lane segmentation is a challenging issue in autonomous driving system designing because lane marks show weak textural consistency due to occlusion or extreme illumination but strong geometric continuity in traffic images, from which general convolution neural networks (CNNs) are not capable of learning semantic objects. To empower conventional CNNs in learning geometric clues of lanes, we propose a deep network named ContinuityLearner to better learn geometric prior within lane. Specifically, our proposed CNN-based paradigm involves a novel Context-encoding image feature learning network to generate class-dependent image feature maps and a new encoding layer to exploit the geometric continuity feature representation by fusing both spatial and visual information of lane together. The ContinuityLearner, performing on the geometric continuity feature of lanes, is trained to directly predict the lane in traffic scenarios with integrated and continuous instance semantic. The experimental results on the CULane dataset and the Tusimple benchmark demonstrate that our ContinuityLearner has superior performance over other state-of-the-art techniques in lane segmentation.