# Contrastive Learning for Lane Detection via cross-similarity

arXiv: https://arxiv.org/abs/2308.08242 · HTML: https://mlsanity.com/paper/2308.08242/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 31 of its 54 references that are in the map.
- First posted on arXiv 16 Aug 2023.

## Builds on (most cited first, 30 of 31)

- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [Bootstrap your own latent: A new approach to self-supervised Learning](https://mlsanity.com/paper/2006.07733/) (2020)
- [Exploring Simple Siamese Representation Learning](https://mlsanity.com/paper/2011.10566/) (2020)
- [BEiT: BERT Pre-Training of Image Transformers](https://mlsanity.com/paper/2106.08254/) (2021)
- [Improved Baselines with Momentum Contrastive Learning](https://mlsanity.com/paper/2003.04297/) (2020)
- [An Empirical Study of Training Self-Supervised Vision Transformers](https://mlsanity.com/paper/2104.02057/) (2021)
- [Contrastive Multiview Coding](https://mlsanity.com/paper/1906.05849/) (2019)
- [VICReg: Variance-Invariance-Covariance Regularization for Self-Supervised Learning](https://mlsanity.com/paper/2105.04906/) (2021)
- [Data-Efficient Image Recognition with Contrastive Predictive Coding](https://mlsanity.com/paper/1905.09272/) (2019)
- [Dense Contrastive Learning for Self-Supervised Visual Pre-Training](https://mlsanity.com/paper/2011.09157/) (2020)
- [Propagate Yourself: Exploring Pixel-Level Consistency for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/2011.10043/) (2020)
- [OverFeat: Integrated Recognition, Localization and Detection using Convolutional Networks](https://mlsanity.com/paper/1312.6229/) (2013)
- [Representation Learning via Invariant Causal Mechanisms](https://mlsanity.com/paper/2010.07922/) (2020)
- [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)
- [VICRegL: Self-Supervised Learning of Local Visual Features](https://mlsanity.com/paper/2210.01571/) (2022)
- [End-to-end Lane Shape Prediction with Transformers](https://mlsanity.com/paper/2011.04233/) (2020)
- [Region Similarity Representation Learning](https://mlsanity.com/paper/2103.12902/) (2021)
- [Contrastive Learning for Label-Efficient Semantic Segmentation](https://mlsanity.com/paper/2012.06985/) (2020)
- [CLRNet: Cross Layer Refinement Network for Lane Detection](https://mlsanity.com/paper/2203.10350/) (2022)
- [Adversarial Masking for Self-Supervised Learning](https://mlsanity.com/paper/2201.13100/) (2022)
- [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)
- [Robust Lane Detection from Continuous Driving Scenes Using Deep Neural Networks](https://mlsanity.com/paper/1903.02193/) (2019)
- [Ultra Fast Deep Lane Detection with Hybrid Anchor Driven Ordinal Classification](https://mlsanity.com/paper/2206.07389/) (2022)

## Built on by (most cited first, 2 of 2)

- [Monocular Lane Detection Based on Deep Learning: A Survey](https://mlsanity.com/paper/2411.16316/) (2024)
- [Adapt, But Don't Forget: Fine-Tuning and Contrastive Routing for Lane Detection under Distribution Shift](https://mlsanity.com/paper/2507.18653/) (2025)

## Abstract (arXiv)

Detecting lane markings in road scenes poses a challenge due to their intricate nature, which is susceptible to unfavorable conditions. While lane markings have strong shape priors, their visibility is easily compromised by lighting conditions, occlusions by other vehicles or pedestrians, and fading of colors over time. The detection process is further complicated by the presence of several lane shapes and natural variations, necessitating large amounts of data to train a robust lane detection model capable of handling various scenarios. In this paper, we present a novel self-supervised learning method termed Contrastive Learning for Lane Detection via cross-similarity (CLLD) to enhance the resilience of lane detection models in real-world scenarios, particularly when the visibility of lanes is compromised. CLLD introduces a contrastive learning (CL) method that assesses the similarity of local features within the global context of the input image. It uses the surrounding information to predict lane markings. This is achieved by integrating local feature contrastive learning with our proposed cross-similar operation. The local feature CL concentrates on extracting features from small patches, a necessity for accurately localizing lane segments. Meanwhile, cross-similarity captures global features, enabling the detection of obscured lane segments based on their surroundings. We enhance cross-similarity by randomly masking portions of input images in the process of augmentation. Extensive experiments on TuSimple and CuLane benchmarks demonstrate that CLLD outperforms SOTA contrastive learning methods, particularly in visibility-impairing conditions like shadows, while it also delivers comparable results under normal conditions. Compared to supervised learning, CLLD still excels in challenging scenarios such as shadows and crowded scenes, which are common in real-world driving.