# Row-wise LiDAR Lane Detection Network with Lane Correlation Refinement

arXiv: https://arxiv.org/abs/2210.08745 · HTML: https://mlsanity.com/paper/2210.08745/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 11 of its 19 references that are in the map.
- First posted on arXiv 17 Oct 2022.

## Builds on (most cited first, 11 of 11)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Spatial As Deep: Spatial CNN for Traffic Scene Understanding](https://mlsanity.com/paper/1712.06080/) (2017)
- [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)
- [CondLaneNet: a Top-to-down Lane Detection Framework Based on Conditional Convolution](https://mlsanity.com/paper/2105.05003/) (2021)
- [LaneAF: Robust Multi-Lane Detection with Affinity Fields](https://mlsanity.com/paper/2103.12040/) (2021)
- [FastDraw: Addressing the Long Tail of Lane Detection by Adapting a Sequential Prediction Network](https://mlsanity.com/paper/1905.04354/) (2019)
- [Deep Multi-Sensor Lane Detection](https://mlsanity.com/paper/1905.01555/) (2019)
- [K-Lane: Lidar Lane Dataset and Benchmark for Urban Roads and Highways](https://mlsanity.com/paper/2110.11048/) (2021)

## Built on by (most cited first, 4 of 4)

- [PlaNeRF: SVD Unsupervised 3D Plane Regularization for NeRF Large-Scale Scene Reconstruction](https://mlsanity.com/paper/2305.16914/) (2023)
- [Advancements in 3D Lane Detection Using LiDAR Point Clouds: From Data Collection to Model Development](https://mlsanity.com/paper/2309.13596/) (2023)
- [Monocular Lane Detection Based on Deep Learning: A Survey](https://mlsanity.com/paper/2411.16316/) (2024)
- [Pandar128 dataset for lane line detection](https://mlsanity.com/paper/2511.07084/) (2025)

## Abstract (arXiv)

Lane detection is one of the most important functions for autonomous driving. In recent years, deep learning-based lane detection networks with RGB camera images have shown promising performance. However, camera-based methods are inherently vulnerable to adverse lighting conditions such as poor or dazzling lighting. Unlike camera, LiDAR sensor is robust to the lighting conditions. In this work, we propose a novel two-stage LiDAR lane detection network with row-wise detection approach. The first-stage network produces lane proposals through a global feature correlator backbone and a row-wise detection head. Meanwhile, the second-stage network refines the feature map of the first-stage network via attention-based mechanism between the local features around the lane proposals, and outputs a set of new lane proposals. Experimental results on the K-Lane dataset show that the proposed network advances the state-of-the-art in terms of F1-score with 30% less GFLOPs. In addition, the second-stage network is found to be especially robust to lane occlusions, thus, demonstrating the robustness of the proposed network for driving in crowded environments.