Autonomous Vehicles on CULane

Metric: F1 score (higher is better)

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#	Model↕	F1 score▼	Extra Data	Paper	Date↕	Code
1	DLNet	81.23	No	-	-	Code
2	CLRerNet-DLA34	81.12	No	CLRerNet: Improving Confidence of Lane Detection...	2023-05-15	Code
3	CLRerNet-Res101	80.91	No	CLRerNet: Improving Confidence of Lane Detection...	2023-05-15	Code
4	CondLSTR(ResNet-101)	80.77	No	-	-	Code
5	CLRerNet-Res34	80.76	No	CLRerNet: Improving Confidence of Lane Detection...	2023-05-15	Code
6	CLRNetV2 (DLA34)	80.68	No	-	-	-
7	CLRKDNet (DLA-34)	80.68	No	CLRKDNet: Speeding up Lane Detection with Knowle...	2024-05-21	Code
8	CondLSTR(ResNet-34)	80.55	No	-	-	Code
9	CLRNet(DLA-34)	80.47	No	CLRNet: Cross Layer Refinement Network for Lane ...	2022-03-19	Code
10	CLRNetV2 (ResNet101)	80.43	No	-	-	-
11	CondLSTR(ResNet-18)	80.36	No	-	-	Code
12	FENetV2	80.19	No	FENet: Focusing Enhanced Network for Lane Detect...	2023-12-28	Code
13	FENetV1	80.15	No	FENet: Focusing Enhanced Network for Lane Detect...	2023-12-28	Code
14	CLRNet(ResNet-101)	80.13	No	CLRNet: Cross Layer Refinement Network for Lane ...	2022-03-19	Code
15	CLRmatchNet (Enhancing curved lane, Resnet-101)	80	No	CLRmatchNet: Enhancing Curved Lane Detection wit...	2023-09-26	Code
16	CLRNetV2 (ResNet34)	79.94	No	-	-	-
17	CANet-L(ResNet101)	79.86	No	CANet: Curved Guide Line Network with Adaptive D...	2023-04-23	-
18	CLRNet(ResNet-34)	79.73	No	CLRNet: Cross Layer Refinement Network for Lane ...	2022-03-19	Code
19	CLRNetV2 (ResNet18)	79.68	No	-	-	-
20	CLRKDNet (ResNet-18)	79.66	No	CLRKDNet: Speeding up Lane Detection with Knowle...	2024-05-21	Code
21	GANet(ResNet-101)	79.63	No	A Keypoint-based Global Association Network for ...	2022-04-15	Code
22	CLRNet(ResNet-18)	79.58	No	CLRNet: Cross Layer Refinement Network for Lane ...	2022-03-19	Code
23	CondLaneNet-L(ResNet-101)	79.48	No	CondLaneNet: a Top-to-down Lane Detection Framew...	2021-05-11	Code
24	GANet(ResNet-34)	79.39	No	A Keypoint-based Global Association Network for ...	2022-04-15	Code
25	CLRNet - CLLD	79.27	No	Contrastive Learning for Lane Detection via cros...	2023-08-16	Code
26	CANet-M	79.16	No	CANet: Curved Guide Line Network with Adaptive D...	2023-04-23	-
27	FOLOLane(ERFNet)	78.8	No	Focus on Local: Detecting Lane Marker from Botto...	2021-05-28	-
28	GANet(ResNet-18)	78.79	No	A Keypoint-based Global Association Network for ...	2022-04-15	Code
29	CondLaneNet-M(ResNet-34)	78.74	No	CondLaneNet: a Top-to-down Lane Detection Framew...	2021-05-11	Code
30	CLRNetV2 (ResNet18-lite)	78.66	No	-	-	-
31	CANet-S(ResNet18)	78.46	No	CANet: Curved Guide Line Network with Adaptive D...	2023-04-23	-
32	CondLaneNet-S(ResNet-18)	78.14	No	CondLaneNet: a Top-to-down Lane Detection Framew...	2021-05-11	Code
33	AtrousFormer(ResNet-34)	78.08	No	Lane Detection with Versatile AtrousFormer and L...	2022-03-08	-
34	O2SFormer(ResNet50)	78	No	End-to-End Lane detection with One-to-Several Tr...	2023-05-01	Code
35	AtrousFormer(ResNet-18)	77.63	No	Lane Detection with Versatile AtrousFormer and L...	2022-03-08	-
36	LaneAF (DLA-34)	77.41	Yes	LaneAF: Robust Multi-Lane Detection with Affinit...	2021-03-22	Code
37	SGNet (ResNet-34)	77.27	No	Structure Guided Lane Detection	2021-05-12	Code
38	Eigenlanes (ResNet-50)	77.2	No	Eigenlanes: Data-Driven Lane Descriptors for Str...	2022-03-29	Code
39	LaneATT (ResNet-122)	77.02	No	Keep your Eyes on the Lane: Real-time Attention-...	2020-10-22	Code
40	LaneATT (ResNet-34)	76.68	No	Keep your Eyes on the Lane: Real-time Attention-...	2020-10-22	Code
41	Eigenlanes (ResNet-18)	76.5	No	Eigenlanes: Data-Driven Lane Descriptors for Str...	2022-03-29	Code
42	RESA - CLLD	76.26	No	Contrastive Learning for Lane Detection via cros...	2023-08-16	Code
43	LaneAF (ERFNet)	75.63	No	LaneAF: Robust Multi-Lane Detection with Affinit...	2021-03-22	Code
44	BézierLaneNet (ResNet-34)	75.57	No	Rethinking Efficient Lane Detection via Curve Mo...	2022-03-04	Code
45	RESA	75.3	No	RESA: Recurrent Feature-Shift Aggregator for Lan...	2020-08-31	Code
46	LaneATT (ResNet-18)	75.13	No	Keep your Eyes on the Lane: Real-time Attention-...	2020-10-22	Code
47	CurveLane-L	74.8	No	CurveLane-NAS: Unifying Lane-Sensitive Architect...	2020-07-23	Code
48	PINet	74.4	Yes	Key Points Estimation and Point Instance Segment...	2020-02-16	Code
49	LaneAF (ENet)	74.24	No	LaneAF: Robust Multi-Lane Detection with Affinit...	2021-03-22	Code
50	ERFNet-H&VESA	74.2	No	Robust Lane Detection via Expanded Self Attention	2021-02-14	Code
51	SwiftLane	74.03	No	SwiftLane: Towards Fast and Efficient Lane Detec...	2021-10-22	-
52	ERFNet-E2E	74	No	End-to-End Lane Marker Detection via Row-wise Cl...	2020-05-06	Code
53	BézierLaneNet (ResNet-18)	73.67	No	Rethinking Efficient Lane Detection via Curve Mo...	2022-03-04	Code
54	CurveLane-M	73.5	No	CurveLane-NAS: Unifying Lane-Sensitive Architect...	2020-07-23	Code
55	ERFNet-IntRA-KD (ours)	72.4	No	Inter-Region Affinity Distillation for Road Mark...	2020-04-11	Code
56	ResNet34-UFAST	72.3	No	Ultra Fast Structure-aware Deep Lane Detection	2020-04-24	Code
57	ResNet-101-E2E	71.9	No	End-to-End Lane Marker Detection via Row-wise Cl...	2020-05-06	Code
58	SCNN	71.6	Yes	Spatial As Deep: Spatial CNN for Traffic Scene U...	2017-12-17	Code
59	CurveLane-S	71.4	No	CurveLane-NAS: Unifying Lane-Sensitive Architect...	2020-07-23	Code
60	ENet-SAD	70.8	No	Learning Lightweight Lane Detection CNNs by Self...	2019-08-02	Code
61	UNet - CLLD	70.56	No	Contrastive Learning for Lane Detection via cros...	2023-08-16	Code
62	ENet-Label	68.8	No	Agnostic Lane Detection	2019-05-02	-
63	ResNet18-UFAST	68.4	No	Ultra Fast Structure-aware Deep Lane Detection	2020-04-24	Code

#1DLNet
81.23
F1 score
No paperCode
#2CLRerNet-DLA34SOTA
81.12
F1 score· 2023-05-15
CLRerNet: Improving Confidence of Lane Detection with LaneIoU Code
#3CLRerNet-Res101
80.91
F1 score· 2023-05-15
CLRerNet: Improving Confidence of Lane Detection with LaneIoU Code
#4CondLSTR(ResNet-101)
80.77
F1 score
No paperCode
#5CLRerNet-Res34
80.76
F1 score· 2023-05-15
CLRerNet: Improving Confidence of Lane Detection with LaneIoU Code
#6CLRNetV2 (DLA34)
80.68
F1 score
No paper
#7CLRKDNet (DLA-34)
80.68
F1 score· 2024-05-21
CLRKDNet: Speeding up Lane Detection with Knowledge Distillation Code
#8CondLSTR(ResNet-34)
80.55
F1 score
No paperCode
#9CLRNet(DLA-34)SOTA
80.47
F1 score· 2022-03-19
CLRNet: Cross Layer Refinement Network for Lane Detection Code
#10CLRNetV2 (ResNet101)
80.43
F1 score
No paper
#11CondLSTR(ResNet-18)
80.36
F1 score
No paperCode
#12FENetV2
80.19
F1 score· 2023-12-28
FENet: Focusing Enhanced Network for Lane Detection Code
#13FENetV1
80.15
F1 score· 2023-12-28
FENet: Focusing Enhanced Network for Lane Detection Code
#14CLRNet(ResNet-101)
80.13
F1 score· 2022-03-19
CLRNet: Cross Layer Refinement Network for Lane Detection Code
#15CLRmatchNet (Enhancing curved lane, Resnet-101)
80
F1 score· 2023-09-26
CLRmatchNet: Enhancing Curved Lane Detection with Deep Matching Process Code
#16CLRNetV2 (ResNet34)
79.94
F1 score
No paper
#17CANet-L(ResNet101)
79.86
F1 score· 2023-04-23
CANet: Curved Guide Line Network with Adaptive Decoder for Lane Detection
#18CLRNet(ResNet-34)
79.73
F1 score· 2022-03-19
CLRNet: Cross Layer Refinement Network for Lane Detection Code
#19CLRNetV2 (ResNet18)
79.68
F1 score
No paper
#20CLRKDNet (ResNet-18)
79.66
F1 score· 2024-05-21
CLRKDNet: Speeding up Lane Detection with Knowledge Distillation Code
#21GANet(ResNet-101)
79.63
F1 score· 2022-04-15
A Keypoint-based Global Association Network for Lane Detection Code
#22CLRNet(ResNet-18)
79.58
F1 score· 2022-03-19
CLRNet: Cross Layer Refinement Network for Lane Detection Code
#23CondLaneNet-L(ResNet-101)SOTA
79.48
F1 score· 2021-05-11
CondLaneNet: a Top-to-down Lane Detection Framework Based on Conditional Convolution Code
#24GANet(ResNet-34)
79.39
F1 score· 2022-04-15
A Keypoint-based Global Association Network for Lane Detection Code
#25CLRNet - CLLD
79.27
F1 score· 2023-08-16
Contrastive Learning for Lane Detection via cross-similarity Code
#26CANet-M
79.16
F1 score· 2023-04-23
CANet: Curved Guide Line Network with Adaptive Decoder for Lane Detection
#27FOLOLane(ERFNet)
78.8
F1 score· 2021-05-28
Focus on Local: Detecting Lane Marker from Bottom Up via Key Point
#28GANet(ResNet-18)
78.79
F1 score· 2022-04-15
A Keypoint-based Global Association Network for Lane Detection Code
#29CondLaneNet-M(ResNet-34)
78.74
F1 score· 2021-05-11
CondLaneNet: a Top-to-down Lane Detection Framework Based on Conditional Convolution Code
#30CLRNetV2 (ResNet18-lite)
78.66
F1 score
No paper
#31CANet-S(ResNet18)
78.46
F1 score· 2023-04-23
CANet: Curved Guide Line Network with Adaptive Decoder for Lane Detection
#32CondLaneNet-S(ResNet-18)
78.14
F1 score· 2021-05-11
CondLaneNet: a Top-to-down Lane Detection Framework Based on Conditional Convolution Code
#33AtrousFormer(ResNet-34)
78.08
F1 score· 2022-03-08
Lane Detection with Versatile AtrousFormer and Local Semantic Guidance
#34O2SFormer(ResNet50)
78
F1 score· 2023-05-01
End-to-End Lane detection with One-to-Several Transformer Code
#35AtrousFormer(ResNet-18)
77.63
F1 score· 2022-03-08
Lane Detection with Versatile AtrousFormer and Local Semantic Guidance
#36LaneAF (DLA-34)SOTA
77.41
F1 score· Extra Data· 2021-03-22
LaneAF: Robust Multi-Lane Detection with Affinity Fields Code
#37SGNet (ResNet-34)
77.27
F1 score· 2021-05-12
Structure Guided Lane Detection Code
#38Eigenlanes (ResNet-50)
77.2
F1 score· 2022-03-29
Eigenlanes: Data-Driven Lane Descriptors for Structurally Diverse Lanes Code
#39LaneATT (ResNet-122)SOTA
77.02
F1 score· 2020-10-22
Keep your Eyes on the Lane: Real-time Attention-guided Lane Detection Code
#40LaneATT (ResNet-34)
76.68
F1 score· 2020-10-22
Keep your Eyes on the Lane: Real-time Attention-guided Lane Detection Code
#41Eigenlanes (ResNet-18)
76.5
F1 score· 2022-03-29
Eigenlanes: Data-Driven Lane Descriptors for Structurally Diverse Lanes Code
#42RESA - CLLD
76.26
F1 score· 2023-08-16
Contrastive Learning for Lane Detection via cross-similarity Code
#43LaneAF (ERFNet)
75.63
F1 score· 2021-03-22
LaneAF: Robust Multi-Lane Detection with Affinity Fields Code
#44BézierLaneNet (ResNet-34)
75.57
F1 score· 2022-03-04
Rethinking Efficient Lane Detection via Curve Modeling Code
#45RESASOTA
75.3
F1 score· 2020-08-31
RESA: Recurrent Feature-Shift Aggregator for Lane Detection Code
#46LaneATT (ResNet-18)
75.13
F1 score· 2020-10-22
Keep your Eyes on the Lane: Real-time Attention-guided Lane Detection Code
#47CurveLane-LSOTA
74.8
F1 score· 2020-07-23
CurveLane-NAS: Unifying Lane-Sensitive Architecture Search and Adaptive Point Blending Code
#48PINetSOTA
74.4
F1 score· Extra Data· 2020-02-16
Key Points Estimation and Point Instance Segmentation Approach for Lane Detection Code
#49LaneAF (ENet)
74.24
F1 score· 2021-03-22
LaneAF: Robust Multi-Lane Detection with Affinity Fields Code
#50ERFNet-H&VESA
74.2
F1 score· 2021-02-14
Robust Lane Detection via Expanded Self Attention Code
#51SwiftLane
74.03
F1 score· 2021-10-22
SwiftLane: Towards Fast and Efficient Lane Detection
#52ERFNet-E2E
74
F1 score· 2020-05-06
End-to-End Lane Marker Detection via Row-wise Classification Code
#53BézierLaneNet (ResNet-18)
73.67
F1 score· 2022-03-04
Rethinking Efficient Lane Detection via Curve Modeling Code
#54CurveLane-M
73.5
F1 score· 2020-07-23
CurveLane-NAS: Unifying Lane-Sensitive Architecture Search and Adaptive Point Blending Code
#55ERFNet-IntRA-KD (ours)
72.4
F1 score· 2020-04-11
Inter-Region Affinity Distillation for Road Marking Segmentation Code
#56ResNet34-UFAST
72.3
F1 score· 2020-04-24
Ultra Fast Structure-aware Deep Lane Detection Code
#57ResNet-101-E2E
71.9
F1 score· 2020-05-06
End-to-End Lane Marker Detection via Row-wise Classification Code
#58SCNNSOTA
71.6
F1 score· Extra Data· 2017-12-17
Spatial As Deep: Spatial CNN for Traffic Scene Understanding Code
#59CurveLane-S
71.4
F1 score· 2020-07-23
CurveLane-NAS: Unifying Lane-Sensitive Architecture Search and Adaptive Point Blending Code
#60ENet-SAD
70.8
F1 score· 2019-08-02
Learning Lightweight Lane Detection CNNs by Self Attention Distillation Code
#61UNet - CLLD
70.56
F1 score· 2023-08-16
Contrastive Learning for Lane Detection via cross-similarity Code
#62ENet-Label
68.8
F1 score· 2019-05-02
Agnostic Lane Detection
#63ResNet18-UFAST
68.4
F1 score· 2020-04-24
Ultra Fast Structure-aware Deep Lane Detection Code