# Datasets for Lane Detection in Autonomous Driving: A Comprehensive Review

arXiv: https://arxiv.org/abs/2504.08540 · HTML: https://mlsanity.com/paper/2504.08540/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 32 of its 61 references that are in the map.
- First posted on arXiv 11 Apr 2025.

## Builds on (most cited first, 30 of 32)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [Argoverse: 3D Tracking and Forecasting with Rich Maps](https://mlsanity.com/paper/1911.02620/) (2019)
- [Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting](https://mlsanity.com/paper/2301.00493/) (2023)
- [One Million Scenes for Autonomous Driving: ONCE Dataset](https://mlsanity.com/paper/2106.11037/) (2021)
- [Spatial As Deep: Spatial CNN for Traffic Scene Understanding](https://mlsanity.com/paper/1712.06080/) (2017)
- [PersFormer: 3D Lane Detection via Perspective Transformer and the OpenLane Benchmark](https://mlsanity.com/paper/2203.11089/) (2022)
- [3D-LaneNet: End-to-End 3D Multiple Lane Detection](https://mlsanity.com/paper/1811.10203/) (2018)
- [CurveLane-NAS: Unifying Lane-Sensitive Architecture Search and Adaptive Point Blending](https://mlsanity.com/paper/2007.12147/) (2020)
- [Gen-LaneNet: A Generalized and Scalable Approach for 3D Lane Detection](https://mlsanity.com/paper/2003.10656/) (2020)
- [VPGNet: Vanishing Point Guided Network for Lane and Road Marking Detection and Recognition](https://mlsanity.com/paper/1710.06288/) (2017)
- [ONCE-3DLanes: Building Monocular 3D Lane Detection](https://mlsanity.com/paper/2205.00301/) (2022)
- [Real time Detection of Lane Markers in Urban Streets](https://mlsanity.com/paper/1411.7113/) (2014)
- [Robust Lane Detection from Continuous Driving Scenes Using Deep Neural Networks](https://mlsanity.com/paper/1903.02193/) (2019)
- [A Commute in Data: The comma2k19 Dataset](https://mlsanity.com/paper/1812.05752/) (2018)
- [Eigenlanes: Data-Driven Lane Descriptors for Structurally Diverse Lanes](https://mlsanity.com/paper/2203.15302/) (2022)
- [Deep Multi-Sensor Lane Detection](https://mlsanity.com/paper/1905.01555/) (2019)
- [VIL-100: A New Dataset and A Baseline Model for Video Instance Lane Detection](https://mlsanity.com/paper/2108.08482/) (2021)
- [Sim-to-Real Domain Adaptation for Lane Detection and Classification in Autonomous Driving](https://mlsanity.com/paper/2202.07133/) (2022)
- [LanEvil: Benchmarking the Robustness of Lane Detection to Environmental Illusions](https://mlsanity.com/paper/2406.00934/) (2024)
- [K-Lane: Lidar Lane Dataset and Benchmark for Urban Roads and Highways](https://mlsanity.com/paper/2110.11048/) (2021)
- [Synthetic-to-Real Domain Adaptation for Lane Detection](https://mlsanity.com/paper/2007.04023/) (2020)
- [Semi-Local 3D Lane Detection and Uncertainty Estimation](https://mlsanity.com/paper/2003.05257/) (2020)
- [CARLANE: A Lane Detection Benchmark for Unsupervised Domain Adaptation from Simulation to multiple Real-World Domains](https://mlsanity.com/paper/2206.08083/) (2022)
- [SCOPE: A Synthetic Multi-Modal Dataset for Collective Perception Including Physical-Correct Weather Conditions](https://mlsanity.com/paper/2408.03065/) (2024)
- [Towards Driving-Oriented Metric for Lane Detection Models](https://mlsanity.com/paper/2203.16851/) (2022)
- [FusionLane: Multi-Sensor Fusion for Lane Marking Semantic Segmentation Using Deep Neural Networks](https://mlsanity.com/paper/2003.04404/) (2020)

## Built on by (most cited first, 1 of 1)

- [Data Augmentation Strategies for Robust Lane Marking Detection](https://mlsanity.com/paper/2511.18668/) (2025)

## Abstract (arXiv)

Accurate lane detection is essential for automated driving, enabling safe and reliable vehicle navigation across a variety of road scenarios. Numerous datasets have been introduced to support the development and evaluation of lane detection algorithms, each differing in terms of the amount of data, sensor types, annotation granularity, environmental conditions, and scenario diversity. This paper provides a comprehensive review of 20 publicly available lane detection datasets, systematically analyzing their characteristics, advantages, and limitations. We classify these datasets based on key performance indicators such as sensor resolution, annotation types and diversity of road and weather conditions using a novel multidimensional metric for dataset quality. By identifying existing challenges and research gaps, we highlight opportunities for future dataset improvements that can further drive innovation in robust lane detection. This review serves as a resource for researchers seeking appropriate datasets for robust lane detection and contributes to the broader goal of advancing autonomous driving.