# RONELDv2: A faster, improved lane tracking method

arXiv: https://arxiv.org/abs/2202.13137 · HTML: https://mlsanity.com/paper/2202.13137/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 19 of its 34 references that are in the map.
- First posted on arXiv 26 Feb 2022.

## Builds on (most cited first, 19 of 19)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [ENet: A Deep Neural Network Architecture for Real-Time Semantic Segmentation](https://mlsanity.com/paper/1606.02147/) (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)
- [Keep your Eyes on the Lane: Real-time Attention-guided Lane Detection](https://mlsanity.com/paper/2010.12035/) (2020)
- [Towards End-to-End Lane Detection: an Instance Segmentation Approach](https://mlsanity.com/paper/1802.05591/) (2018)
- [Ultra Fast Structure-aware Deep Lane Detection](https://mlsanity.com/paper/2004.11757/) (2020)
- [End-to-end Lane Shape Prediction with Transformers](https://mlsanity.com/paper/2011.04233/) (2020)
- [3D-LaneNet: End-to-End 3D Multiple Lane Detection](https://mlsanity.com/paper/1811.10203/) (2018)
- [CurveLane-NAS: Unifying Lane-Sensitive Architecture Search and Adaptive Point Blending](https://mlsanity.com/paper/2007.12147/) (2020)
- [Key Points Estimation and Point Instance Segmentation Approach for Lane Detection](https://mlsanity.com/paper/2002.06604/) (2020)
- [VPGNet: Vanishing Point Guided Network for Lane and Road Marking Detection and Recognition](https://mlsanity.com/paper/1710.06288/) (2017)
- [Real time Detection of Lane Markers in Urban Streets](https://mlsanity.com/paper/1411.7113/) (2014)
- [Robust Lane Detection from Continuous Driving Scenes Using Deep Neural Networks](https://mlsanity.com/paper/1903.02193/) (2019)
- [EL-GAN: Embedding Loss Driven Generative Adversarial Networks for Lane Detection](https://mlsanity.com/paper/1806.05525/) (2018)
- [Lane Detection in Low-light Conditions Using an Efficient Data Enhancement : Light Conditions Style Transfer](https://mlsanity.com/paper/2002.01177/) (2020)
- [RONELD: Robust Neural Network Output Enhancement for Active Lane Detection](https://mlsanity.com/paper/2010.09548/) (2020)
- [A Robust Lane Detection and Departure Warning System](https://mlsanity.com/paper/1504.07590/) (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 detection is an integral part of control systems in autonomous vehicles and lane departure warning systems as lanes are a key component of the operating environment for road vehicles. In a previous paper, a robust neural network output enhancement for active lane detection (RONELD) method augmenting deep learning lane detection models to improve active, or ego, lane accuracy performance was presented. This paper extends the work by further investigating the lane tracking methods used to increase robustness of the method to lane changes and different lane dimensions (e.g. lane marking thickness) and proposes an improved, lighter weight lane detection method, RONELDv2. It improves on the previous RONELD method by detecting the lane point variance, merging lanes to find a more accurate set of lane parameters, and using an exponential moving average method to calculate more robust lane weights. Experiments using the proposed improvements show a consistent increase in lane detection accuracy results across different datasets and deep learning models, as well as a decrease in computational complexity observed via an up to two-fold decrease in runtime, which enhances its suitability for real-time use on autonomous vehicles and lane departure warning systems.