| DLNet: Direction-Aware Feature Integration for Robust Lane Detection in Complex Environments | ✓ Link | 81.23 | | DLNet | 2025-06-09 |
| CLRerNet: Improving Confidence of Lane Detection with LaneIoU | ✓ Link | 81.12 | | CLRerNet-DLA34 | 2023-05-15 |
| CLRerNet: Improving Confidence of Lane Detection with LaneIoU | ✓ Link | 80.91 | | CLRerNet-Res101 | 2023-05-15 |
| Generating Dynamic Kernels via Transformers for Lane Detection | ✓ Link | 80.77 | | CondLSTR(ResNet-101) | 2023-01-01 |
| CLRerNet: Improving Confidence of Lane Detection with LaneIoU | ✓ Link | 80.76 | | CLRerNet-Res34 | 2023-05-15 |
| CLRNetV2: A Faster and Stronger Lane Detector | | 80.68 | 57.27 | CLRNetV2 (DLA34) | 2025-03-18 |
| CLRKDNet: Speeding up Lane Detection with Knowledge Distillation | ✓ Link | 80.68 | | CLRKDNet (DLA-34) | 2024-05-21 |
| Generating Dynamic Kernels via Transformers for Lane Detection | ✓ Link | 80.55 | | CondLSTR(ResNet-34) | 2023-01-01 |
| CLRNet: Cross Layer Refinement Network for Lane Detection | ✓ Link | 80.47 | | CLRNet(DLA-34) | 2022-03-19 |
| CLRNetV2: A Faster and Stronger Lane Detector | | 80.43 | | CLRNetV2 (ResNet101) | 2025-03-18 |
| Generating Dynamic Kernels via Transformers for Lane Detection | ✓ Link | 80.36 | | CondLSTR(ResNet-18) | 2023-01-01 |
| FENet: Focusing Enhanced Network for Lane Detection | ✓ Link | 80.19 | 56.17 | FENetV2 | 2023-12-28 |
| FENet: Focusing Enhanced Network for Lane Detection | ✓ Link | 80.15 | 56.27 | FENetV1 | 2023-12-28 |
| CLRNet: Cross Layer Refinement Network for Lane Detection | ✓ Link | 80.13 | | CLRNet(ResNet-101) | 2022-03-19 |
| CLRmatchNet: Enhancing Curved Lane Detection with Deep Matching Process | ✓ Link | 80.00 | | CLRmatchNet (Enhancing curved lane, Resnet-101) | 2023-09-26 |
| CLRNetV2: A Faster and Stronger Lane Detector | | 79.94 | | CLRNetV2 (ResNet34) | 2025-03-18 |
| CANet: Curved Guide Line Network with Adaptive Decoder for Lane Detection | | 79.86 | | CANet-L(ResNet101) | 2023-04-23 |
| CLRNet: Cross Layer Refinement Network for Lane Detection | ✓ Link | 79.73 | | CLRNet(ResNet-34) | 2022-03-19 |
| CLRNetV2: A Faster and Stronger Lane Detector | | 79.68 | | CLRNetV2 (ResNet18) | 2025-03-18 |
| CLRKDNet: Speeding up Lane Detection with Knowledge Distillation | ✓ Link | 79.66 | | CLRKDNet (ResNet-18) | 2024-05-21 |
| A Keypoint-based Global Association Network for Lane Detection | ✓ Link | 79.63 | | GANet(ResNet-101) | 2022-04-15 |
| CLRNet: Cross Layer Refinement Network for Lane Detection | ✓ Link | 79.58 | | CLRNet(ResNet-18) | 2022-03-19 |
| CondLaneNet: a Top-to-down Lane Detection Framework Based on Conditional Convolution | ✓ Link | 79.48 | | CondLaneNet-L(ResNet-101) | 2021-05-11 |
| A Keypoint-based Global Association Network for Lane Detection | ✓ Link | 79.39 | | GANet(ResNet-34) | 2022-04-15 |
| Contrastive Learning for Lane Detection via cross-similarity | ✓ Link | 79.27 | | CLRNet - CLLD | 2023-08-16 |
| CANet: Curved Guide Line Network with Adaptive Decoder for Lane Detection | | 79.16 | | CANet-M | 2023-04-23 |
| Focus on Local: Detecting Lane Marker from Bottom Up via Key Point | | 78.8 | | FOLOLane(ERFNet) | 2021-05-28 |
| A Keypoint-based Global Association Network for Lane Detection | ✓ Link | 78.79 | | GANet(ResNet-18) | 2022-04-15 |
| CondLaneNet: a Top-to-down Lane Detection Framework Based on Conditional Convolution | ✓ Link | 78.74 | | CondLaneNet-M(ResNet-34) | 2021-05-11 |
| CLRNetV2: A Faster and Stronger Lane Detector | | 78.66 | | CLRNetV2 (ResNet18-lite) | 2025-03-18 |
| CANet: Curved Guide Line Network with Adaptive Decoder for Lane Detection | | 78.46 | | CANet-S(ResNet18) | 2023-04-23 |
| CondLaneNet: a Top-to-down Lane Detection Framework Based on Conditional Convolution | ✓ Link | 78.14 | | CondLaneNet-S(ResNet-18) | 2021-05-11 |
| Lane Detection with Versatile AtrousFormer and Local Semantic Guidance | | 78.08 | | AtrousFormer(ResNet-34) | 2022-03-08 |
| End-to-End Lane detection with One-to-Several Transformer | ✓ Link | 78.0 | | O2SFormer(ResNet50) | 2023-05-01 |
| Lane Detection with Versatile AtrousFormer and Local Semantic Guidance | | 77.63 | | AtrousFormer(ResNet-18) | 2022-03-08 |
| LaneAF: Robust Multi-Lane Detection with Affinity Fields | ✓ Link | 77.41 | | LaneAF (DLA-34) | 2021-03-22 |
| Structure Guided Lane Detection | ✓ Link | 77.27 | | SGNet (ResNet-34) | 2021-05-12 |
| Eigenlanes: Data-Driven Lane Descriptors for Structurally Diverse Lanes | ✓ Link | 77.2 | | Eigenlanes (ResNet-50) | 2022-03-29 |
| Keep your Eyes on the Lane: Real-time Attention-guided Lane Detection | ✓ Link | 77.02 | | LaneATT (ResNet-122) | 2020-10-22 |
| Keep your Eyes on the Lane: Real-time Attention-guided Lane Detection | ✓ Link | 76.68 | | LaneATT (ResNet-34) | 2020-10-22 |
| Eigenlanes: Data-Driven Lane Descriptors for Structurally Diverse Lanes | ✓ Link | 76.5 | | Eigenlanes (ResNet-18) | 2022-03-29 |
| Contrastive Learning for Lane Detection via cross-similarity | ✓ Link | 76.26 | | RESA - CLLD | 2023-08-16 |
| LaneAF: Robust Multi-Lane Detection with Affinity Fields | ✓ Link | 75.63 | | LaneAF (ERFNet) | 2021-03-22 |
| Rethinking Efficient Lane Detection via Curve Modeling | ✓ Link | 75.57 | | BézierLaneNet (ResNet-34) | 2022-03-04 |
| RESA: Recurrent Feature-Shift Aggregator for Lane Detection | ✓ Link | 75.3 | | RESA | 2020-08-31 |
| Keep your Eyes on the Lane: Real-time Attention-guided Lane Detection | ✓ Link | 75.13 | | LaneATT (ResNet-18) | 2020-10-22 |
| CurveLane-NAS: Unifying Lane-Sensitive Architecture Search and Adaptive Point Blending | ✓ Link | 74.8 | | CurveLane-L | 2020-07-23 |
| Key Points Estimation and Point Instance Segmentation Approach for Lane Detection | ✓ Link | 74.4 | | PINet | 2020-02-16 |
| LaneAF: Robust Multi-Lane Detection with Affinity Fields | ✓ Link | 74.24 | | LaneAF (ENet) | 2021-03-22 |
| Robust Lane Detection via Expanded Self Attention | ✓ Link | 74.2 | | ERFNet-H&VESA | 2021-02-14 |
| SwiftLane: Towards Fast and Efficient Lane Detection | | 74.03 | | SwiftLane | 2021-10-22 |
| End-to-End Lane Marker Detection via Row-wise Classification | ✓ Link | 74 | | ERFNet-E2E | 2020-05-06 |
| Rethinking Efficient Lane Detection via Curve Modeling | ✓ Link | 73.67 | | BézierLaneNet (ResNet-18) | 2022-03-04 |
| CurveLane-NAS: Unifying Lane-Sensitive Architecture Search and Adaptive Point Blending | ✓ Link | 73.5 | | CurveLane-M | 2020-07-23 |
| Inter-Region Affinity Distillation for Road Marking Segmentation | ✓ Link | 72.4 | | ERFNet-IntRA-KD (ours) | 2020-04-11 |
| Ultra Fast Structure-aware Deep Lane Detection | ✓ Link | 72.3 | | ResNet34-UFAST | 2020-04-24 |
| End-to-End Lane Marker Detection via Row-wise Classification | ✓ Link | 71.9 | | ResNet-101-E2E | 2020-05-06 |
| Spatial As Deep: Spatial CNN for Traffic Scene Understanding | ✓ Link | 71.6 | | SCNN | 2017-12-17 |
| CurveLane-NAS: Unifying Lane-Sensitive Architecture Search and Adaptive Point Blending | ✓ Link | 71.4 | | CurveLane-S | 2020-07-23 |
| Learning Lightweight Lane Detection CNNs by Self Attention Distillation | ✓ Link | 70.8 | | ENet-SAD | 2019-08-02 |
| Contrastive Learning for Lane Detection via cross-similarity | ✓ Link | 70.56 | | UNet - CLLD | 2023-08-16 |
| Agnostic Lane Detection | | 68.8 | | ENet-Label | 2019-05-02 |
| Ultra Fast Structure-aware Deep Lane Detection | ✓ Link | 68.4 | | ResNet18-UFAST | 2020-04-24 |