# Lane detection with Position Embedding

arXiv: https://arxiv.org/abs/2203.12301 · HTML: https://mlsanity.com/paper/2203.12301/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 22 of its 27 references that are in the map.
- First posted on arXiv 23 Mar 2022.

## Builds on (most cited first, 22 of 22)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Self-Attention with Relative Position Representations](https://mlsanity.com/paper/1803.02155/) (2018)
- [Stand-Alone Self-Attention in Vision Models](https://mlsanity.com/paper/1906.05909/) (2019)
- [Bottleneck Transformers for Visual Recognition](https://mlsanity.com/paper/2101.11605/) (2021)
- [Attention Augmented Convolutional Networks](https://mlsanity.com/paper/1904.09925/) (2019)
- [Exploring Self-attention for Image Recognition](https://mlsanity.com/paper/2004.13621/) (2020)
- [Spatial As Deep: Spatial CNN for Traffic Scene Understanding](https://mlsanity.com/paper/1712.06080/) (2017)
- [How Much Position Information Do Convolutional Neural Networks Encode?](https://mlsanity.com/paper/2001.08248/) (2020)
- [Keep your Eyes on the Lane: Real-time Attention-guided Lane Detection](https://mlsanity.com/paper/2010.12035/) (2020)
- [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)
- [PolyLaneNet: Lane Estimation via Deep Polynomial Regression](https://mlsanity.com/paper/2004.10924/) (2020)
- [CondLaneNet: a Top-to-down Lane Detection Framework Based on Conditional Convolution](https://mlsanity.com/paper/2105.05003/) (2021)
- [Key Points Estimation and Point Instance Segmentation Approach for Lane Detection](https://mlsanity.com/paper/2002.06604/) (2020)
- [RESA: Recurrent Feature-Shift Aggregator for Lane Detection](https://mlsanity.com/paper/2008.13719/) (2020)
- [Focus on Local: Detecting Lane Marker from Bottom Up via Key Point](https://mlsanity.com/paper/2105.13680/) (2021)
- [On Recognizing Texts of Arbitrary Shapes with 2D Self-Attention](https://mlsanity.com/paper/1910.04396/) (2019)
- [End-to-End Lane Marker Detection via Row-wise Classification](https://mlsanity.com/paper/2005.08630/) (2020)
- [LaneAF: Robust Multi-Lane Detection with Affinity Fields](https://mlsanity.com/paper/2103.12040/) (2021)
- [LaneNet: Real-Time Lane Detection Networks for Autonomous Driving](https://mlsanity.com/paper/1807.01726/) (2018)
- [Position, Padding and Predictions: A Deeper Look at Position Information in CNNs](https://mlsanity.com/paper/2101.12322/) (2021)
- [How Can CNNs Use Image Position for Segmentation?](https://mlsanity.com/paper/2005.03463/) (2020)

## Abstract (arXiv)

Recently, lane detection has made great progress in autonomous driving. RESA (REcurrent Feature-Shift Aggregator) is based on image segmentation. It presents a novel module to enrich lane feature after preliminary feature extraction with an ordinary CNN. For Tusimple dataset, there is not too complicated scene and lane has more prominent spatial features. On the basis of RESA, we introduce the method of position embedding to enhance the spatial features. The experimental results show that this method has achieved the best accuracy 96.93% on Tusimple dataset.