# BSNet: Lane Detection via Draw B-spline Curves Nearby

arXiv: https://arxiv.org/abs/2301.06910 · HTML: https://mlsanity.com/paper/2301.06910/

## Key facts

- Cited by 13 papers in the map (data through 14 Oct 2026).
- Builds on 29 of its 35 references that are in the map.
- First posted on arXiv 17 Jan 2023.

## Builds on (most cited first, 29 of 29)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [Sparse R-CNN: End-to-End Object Detection with Learnable Proposals](https://mlsanity.com/paper/2011.12450/) (2020)
- [YOLACT: Real-time Instance Segmentation](https://mlsanity.com/paper/1904.02689/) (2019)
- [Deep Layer Aggregation](https://mlsanity.com/paper/1707.06484/) (2017)
- [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)
- [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)
- [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)
- [Rethinking Efficient Lane Detection via Curve Modeling](https://mlsanity.com/paper/2203.02431/) (2022)
- [CLRNet: Cross Layer Refinement Network for Lane Detection](https://mlsanity.com/paper/2203.10350/) (2022)
- [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)
- [RESA: Recurrent Feature-Shift Aggregator for Lane Detection](https://mlsanity.com/paper/2008.13719/) (2020)
- [A Keypoint-based Global Association Network for Lane Detection](https://mlsanity.com/paper/2204.07335/) (2022)
- [Focus on Local: Detecting Lane Marker from Bottom Up via Key Point](https://mlsanity.com/paper/2105.13680/) (2021)
- [LaneAF: Robust Multi-Lane Detection with Affinity Fields](https://mlsanity.com/paper/2103.12040/) (2021)
- [Ultra Fast Deep Lane Detection with Hybrid Anchor Driven Ordinal Classification](https://mlsanity.com/paper/2206.07389/) (2022)
- [Object Contour Detection with a Fully Convolutional Encoder-Decoder Network](https://mlsanity.com/paper/1603.04530/) (2016)
- [Structure Guided Lane Detection](https://mlsanity.com/paper/2105.05403/) (2021)
- [Laneformer: Object-aware Row-Column Transformers for Lane Detection](https://mlsanity.com/paper/2203.09830/) (2022)

## Built on by (most cited first, 13 of 13)

- [LanEvil: Benchmarking the Robustness of Lane Detection to Environmental Illusions](https://mlsanity.com/paper/2406.00934/) (2024)
- [CLRerNet: Improving Confidence of Lane Detection with LaneIoU](https://mlsanity.com/paper/2305.08366/) (2023)
- [Lane2Seq: Towards Unified Lane Detection via Sequence Generation](https://mlsanity.com/paper/2402.17172/) (2024)
- [Monocular Lane Detection Based on Deep Learning: A Survey](https://mlsanity.com/paper/2411.16316/) (2024)
- [DALNet: A Rail Detection Network Based on Dynamic Anchor Line](https://mlsanity.com/paper/2308.11381/) (2023)
- [CLRmatchNet: Enhancing Curved Lane Detection with Deep Matching Process](https://mlsanity.com/paper/2309.15204/) (2023)
- [Polar R-CNN: End-to-End Lane Detection with Fewer Anchors](https://mlsanity.com/paper/2411.01499/) (2024)
- [Benchmarking the Robustness of Autonomous Driving to Environmental Illusions: A Lane Perception Perspective](https://mlsanity.com/paper/2607.05783/) (2026)
- [Adapt, But Don't Forget: Fine-Tuning and Contrastive Routing for Lane Detection under Distribution Shift](https://mlsanity.com/paper/2507.18653/) (2025)
- [DiffusionLane: Diffusion Model for Lane Detection](https://mlsanity.com/paper/2510.22236/) (2025)
- [Monocular 3D Lane Detection via Structure Uncertainty-Aware Network with Curve-Point Queries](https://mlsanity.com/paper/2511.13055/) (2025)
- [GFSR: Geometric Fidelity and Spatial Refinement for Reliable Lane Detection](https://mlsanity.com/paper/2605.23327/) (2026)
- [TopoCurve: Geometry-Aware Topology Reasoning via B'ezier Curves in Autonomous Driving](https://mlsanity.com/paper/2610.09118/) (2026)

## Abstract (arXiv)

Curve-based methods are one of the classic lane detection methods. They learn the holistic representation of lane lines, which is intuitive and concise. However, their performance lags behind the recent state-of-the-art methods due to the limitation of their lane representation and optimization. In this paper, we revisit the curve-based lane detection methods from the perspectives of the lane representations' globality and locality. The globality of lane representation is the ability to complete invisible parts of lanes with visible parts. The locality of lane representation is the ability to modify lanes locally which can simplify parameter optimization. Specifically, we first propose to exploit the b-spline curve to fit lane lines since it meets the locality and globality. Second, we design a simple yet efficient network BSNet to ensure the acquisition of global and local features. Third, we propose a new curve distance to make the lane detection optimization objective more reasonable and alleviate ill-conditioned problems. The proposed methods achieve state-of-the-art performance on the Tusimple, CULane, and LLAMAS datasets, which dramatically improved the accuracy of curve-based methods in the lane detection task while running far beyond real-time (197FPS).