| Robust Lane Detection through Self Pre-training with Masked Sequential Autoencoders and Fine-tuning with Customized PolyLoss | | 98.38 | | SCNN_UNet_Attention_PL* | 2023-05-26 |
| CLRNetV2: A Faster and Stronger Lane Detector | | 96.99 | 97.90 | CLRNetV2 (ResNet18) | 2025-03-18 |
| Lane detection with Position Embedding | | 96.93 | | PE-RESA | 2022-03-23 |
| Focus on Local: Detecting Lane Marker from Bottom Up via Key Point | | 96.92 | | FOLOLane(ERFNet) | 2021-05-28 |
| CLRNet: Cross Layer Refinement Network for Lane Detection | ✓ Link | 96.9% | 97.82 | CLRNet(ResNet-34) | 2022-03-19 |
| CLRNetV2: A Faster and Stronger Lane Detector | | 96.88 | 97.95 | CLRNetV2 (ResNet34) | 2025-03-18 |
| CLRNet: Cross Layer Refinement Network for Lane Detection | ✓ Link | 96.82% | 97.89 | CLRNet(ResNet-18) | 2022-03-19 |
| RESA: Recurrent Feature-Shift Aggregator for Lane Detection | ✓ Link | 96.82 | 96.93 | RESA | 2020-08-31 |
| Contrastive Learning for Lane Detection via cross-similarity | ✓ Link | 96.82 | | CLLD | 2023-08-16 |
| CANet: Curved Guide Line Network with Adaptive Decoder for Lane Detection | | 96.76% | 97.77 | CANet-L(ResNet101) | 2023-04-23 |
| CANet: Curved Guide Line Network with Adaptive Decoder for Lane Detection | | 96.66% | 97.44 | CANet-M | 2023-04-23 |
| Learning Lightweight Lane Detection CNNs by Self Attention Distillation | ✓ Link | 96.64% | 95.92 | ENet-SAD | 2019-08-02 |
| Towards Lightweight Lane Detection by Optimizing Spatial Embedding | ✓ Link | 96.58% | 96.38 | HarD-SP | 2020-08-19 |
| CANet: Curved Guide Line Network with Adaptive Decoder for Lane Detection | | 96.56% | 97.51 | CANet-S | 2023-04-23 |
| CondLaneNet: a Top-to-down Lane Detection Framework Based on Conditional Convolution | ✓ Link | 96.54% | 97.24 | CondLaneNet-L(ResNet-101) | 2021-05-11 |
| []() | | 96.50% | 97.42 | Oblique Convolution | |
| Learning to Cluster for Proposal-Free Instance Segmentation | ✓ Link | 96.50% | 94.31 | Pairwise pixel supervision + FCN | 2018-03-17 |
| EL-GAN: Embedding Loss Driven Generative Adversarial Networks for Lane Detection | | 96.40% | 96.26 | EL-GAN | 2018-06-14 |
| Towards End-to-End Lane Detection: an Instance Segmentation Approach | ✓ Link | 96.4% | 94.80 | LaneNet | 2018-02-15 |
| Semantic Instance Segmentation with a Discriminative Loss Function | ✓ Link | 96.40% | | Discriminative loss function | 2017-08-08 |
| Agnostic Lane Detection | | 96.29% | 95.23 | ENet-Label | 2019-05-02 |
| End-to-End Lane Marker Detection via Row-wise Classification | ✓ Link | 96.22% | 96.58 | R-34-E2E | 2020-05-06 |
| End-to-end Lane Shape Prediction with Transformers | ✓ Link | 96.18 | 96.68 | LSTR | 2020-11-09 |
| End-to-End Lane Marker Detection via Row-wise Classification | ✓ Link | 96.11% | 96.37 | R-50-E2E | 2020-05-06 |
| Keep your Eyes on the Lane: Real-time Attention-guided Lane Detection | ✓ Link | 96.10% | 96.06 | LaneATT (ResNet-122) | 2020-10-22 |
| End-to-End Lane Marker Detection via Row-wise Classification | ✓ Link | 96.02% | 96.25 | ERF-E2E | 2020-05-06 |
| []() | | 95.84% | | Lane-LSQ | |
| Rethinking Efficient Lane Detection via Curve Modeling | ✓ Link | 95.65% | | BézierLaneNet (ResNet-34) | 2022-03-04 |
| LaneAF: Robust Multi-Lane Detection with Affinity Fields | ✓ Link | 95.64% | 96.49 | LaneAF | 2021-03-22 |
| Keep your Eyes on the Lane: Real-time Attention-guided Lane Detection | ✓ Link | 95.63% | 96.77 | LaneATT (ResNet-34) | 2020-10-22 |
| Eigenlanes: Data-Driven Lane Descriptors for Structurally Diverse Lanes | ✓ Link | 95.62% | | Eigenlanes (ResNet-18) | 2022-03-29 |
| Keep your Eyes on the Lane: Real-time Attention-guided Lane Detection | ✓ Link | 95.57% | 96.71 | LaneATT (ResNet-18) | 2020-10-22 |
| CondLaneNet: a Top-to-down Lane Detection Framework Based on Conditional Convolution | ✓ Link | 95.48% | | CondLaneNet(ResNet-18) | 2021-05-11 |
| Rethinking Efficient Lane Detection via Curve Modeling | ✓ Link | 95.41% | | BézierLaneNet (ResNet-18) | 2022-03-04 |
| CondLaneNet: a Top-to-down Lane Detection Framework Based on Conditional Convolution | ✓ Link | 95.37% | 96.98 | CondLaneNet-M(ResNet-34) | 2021-05-11 |
| Lane Detection and Classification using Cascaded CNNs | ✓ Link | 95.24% | 90.82 | End-to-end ERFNet | 2019-07-02 |
| []() | | 94.5% | | ERFNet | |
| PolyLaneNet: Lane Estimation via Deep Polynomial Regression | ✓ Link | 93.36% | 90.62 | PolyLaneNet | 2020-04-23 |
| A Keypoint-based Global Association Network for Lane Detection | ✓ Link | | 97.71 | GANet(ResNet-34) | 2022-04-15 |
| A Keypoint-based Global Association Network for Lane Detection | ✓ Link | | 97.68 | GANet(ResNet-18) | 2022-04-15 |
| CLRNet: Cross Layer Refinement Network for Lane Detection | ✓ Link | | 97.62 | CLRNet(ResNet-101) | 2022-03-19 |
| A Keypoint-based Global Association Network for Lane Detection | ✓ Link | | 97.45 | GANet(ResNet-101) | 2022-04-15 |
| CondLaneNet: a Top-to-down Lane Detection Framework Based on Conditional Convolution | ✓ Link | | 97.01 | CondLaneNet(ResNet-34) | 2021-05-11 |