mlsanityData to 7 Oct 2026

BezierFormer: A Unified Architecture for 2D and 3D Lane Detection

arXiv 2404.16304 ↗First posted 25 Apr 2024cs.CVcited by 5

Not on the map. Why?

Abstract (arXiv)

Lane detection has made significant progress in recent years, but there is not a unified architecture for its two sub-tasks: 2D lane detection and 3D lane detection. To fill this gap, we introduce B'ezierFormer, a unified 2D and 3D lane detection architecture based on B'ezier curve lane representation. B'ezierFormer formulate queries as B'ezier control points and incorporate a novel B'ezier curve attention mechanism. This attention mechanism enables comprehensive and accurate feature extraction for slender lane curves via sampling and fusing multiple reference points on each curve. In addition, we propose a novel Chamfer IoU-based loss which is more suitable for the B'ezier control points regression. The state-of-the-art performance of B'ezierFormer on widely-used 2D and 3D lane detection benchmarks verifies its effectiveness and suggests the worthiness of further exploration.

Key facts. Cited by 5 papers in the map (data through 7 Oct 2026). Builds on 27 of its 31 references that are in the map. First posted on arXiv 25 Apr 2024.

Builds on

27 of 31 references.

References · 27

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  12. 2020End-to-end Lane Shape Prediction with Transformerscited by 111
15 more
  1. 20183D-LaneNet: End-to-End 3D Multiple Lane Detectioncited by 106
  2. 2021CondLaneNet: a Top-to-down Lane Detection Framework Based on Conditional Convolutioncited by 95
  3. 2022Rethinking Efficient Lane Detection via Curve Modelingcited by 87
  4. 2022CLRNet: Cross Layer Refinement Network for Lane Detectioncited by 82
  5. 2020CurveLane-NAS: Unifying Lane-Sensitive Architecture Search and Adaptive Point Blendingcited by 80
  6. 2020RESA: Recurrent Feature-Shift Aggregator for Lane Detectioncited by 77
  7. 2020Gen-LaneNet: A Generalized and Scalable Approach for 3D Lane Detectioncited by 75
  8. 2022A Keypoint-based Global Association Network for Lane Detectioncited by 68
  9. 2021Focus on Local: Detecting Lane Marker from Bottom Up via Key Pointcited by 65
  10. 2023Anchor3DLane: Learning to Regress 3D Anchors for Monocular 3D Lane Detectioncited by 48
  11. 2022CurveFormer: 3D Lane Detection by Curve Propagation with Curve Queries and Attentioncited by 40
  12. 2022Ultra Fast Deep Lane Detection with Hybrid Anchor Driven Ordinal Classificationcited by 39
  13. 2021Learning to Predict 3D Lane Shape and Camera Pose from a Single Image via Geometry Constraintscited by 30
  14. 2022Laneformer: Object-aware Row-Column Transformers for Lane Detectioncited by 25
  15. 2022RCLane: Relay Chain Prediction for Lane Detectioncited by 20

Built on by

Cited by year

Citing papers per year: 2024: 2; 2025: 3.

5 papers.

  1. 2024TopoBDA: Towards Bezier Deformable Attention for Road Topology Understandingcited by 5
  2. 2024Monocular Lane Detection Based on Deep Learning: A Surveycited by 4
  3. 2025Geometry-Guided Representations for Coherent Lane and Traffic Topology Reasoning in Driving Scenescited by 2
  4. 2025SnowyLane: Robust Lane Detection on Snow-covered Rural Roads Using Infrastructural Elementscited by 0
  5. 2025DOGE: Differentiable Bezier Graph Optimization for Road Network Extractioncited by 0