# Implementation of Real-Time Lane Detection on Autonomous Mobile Robot

arXiv: https://arxiv.org/abs/2411.14873 · HTML: https://mlsanity.com/paper/2411.14873/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 6 of its 16 references that are in the map.
- First posted on arXiv 22 Nov 2024.

## Builds on (most cited first, 6 of 6)

- [Spatial As Deep: Spatial CNN for Traffic Scene Understanding](https://mlsanity.com/paper/1712.06080/) (2017)
- [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)
- [CurveLane-NAS: Unifying Lane-Sensitive Architecture Search and Adaptive Point Blending](https://mlsanity.com/paper/2007.12147/) (2020)
- [RESA: Recurrent Feature-Shift Aggregator for Lane Detection](https://mlsanity.com/paper/2008.13719/) (2020)
- [Autonomous Docking Method via Non-linear Model Predictive Control](https://mlsanity.com/paper/2312.16629/) (2023)

## Abstract (arXiv)

This paper describes the implementation of a learning-based lane detection algorithm on an Autonomous Mobile Robot. It aims to implement the Ultra Fast Lane Detection algorithm for real-time application on the SEATER P2MC-BRIN prototype using a camera and optimize its performance on the Jetson Nano platform. Preliminary experiments were conducted to evaluate the algorithm's performance in terms of data processing speed and accuracy using two types of datasets: outdoor using a public dataset and indoor using an internal dataset from the indoor area of the BRIN Workshop Building in Bandung. The experiments revealed that the algorithm runs more optimally on the Jetson Nano platform after conversion to TensorRT compared to the ONNX model, achieving processing speeds of approximately 101 ms using CULane and 105 ms using TuSimple, which is about 22 times faster than the previous model. While the algorithm demonstrates good accuracy on the outdoor public dataset, its performance falls short on the indoor dataset. Future work should focus on transfer learning and fine-tuning to enhance indoor lane detection accuracy.