Autonomous Vehicles on OpenLane

Metric: Merge & Split (higher is better)

LeaderboardDataset

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Results

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#	Model↕	Merge & Split▼	Extra Data	Paper	Date↕	Code
1	GLane3D(Swin-B)	67.7	No	GLane3D : Detecting Lanes with Graph of 3D Keypo...	2025-03-31	-
2	GLane3D(ResNet-50)	64.8	No	GLane3D : Detecting Lanes with Graph of 3D Keypo...	2025-03-31	-
3	LATR	61.5	No	LATR: 3D Lane Detection from Monocular Images wi...	2023-08-08	Code
4	PVALane (Swin-B)	60.8	No	-	-	-
5	PVALane (ResNet-50)	60	No	-	-	-
6	PVALane (ResNet-18)	58.7	No	-	-	-
7	LaneCPP	58.7	No	LaneCPP: Continuous 3D Lane Detection using Phys...	2024-06-12	-
8	BEV-LaneDet	53.7	No	BEV-LaneDet: a Simple and Effective 3D Lane Dete...	2022-10-12	-
9	PersFormer (version 1.1)	53.1	No	PersFormer: 3D Lane Detection via Perspective Tr...	2022-03-21	Code
10	Anchor3DLane-T† (multi-frame + iterative regression)	51.7	No	Anchor3DLane: Learning to Regress 3D Anchors for...	2023-01-06	Code
11	M^2-3DLaneNet (Camera + Lidar)	51.4	No	M$^2$-3DLaneNet: Exploring Multi-Modal 3D Lane D...	2022-09-13	-
12	Anchor3DLane† (iterative regression)	51.2	No	Anchor3DLane: Learning to Regress 3D Anchors for...	2023-01-06	Code
13	PersFormer (version 1.2)	50.9	No	PersFormer: 3D Lane Detection via Perspective Tr...	2022-03-21	Code
14	Anchor3DLane (ResNet-18)	50.5	No	Anchor3DLane: Learning to Regress 3D Anchors for...	2023-01-06	Code
15	CurveFormer	45.4	No	CurveFormer: 3D Lane Detection by Curve Propagat...	2022-09-16	-
16	3D-LaneNet	41.7	No	3D-LaneNet: End-to-End 3D Multiple Lane Detection	2018-11-26	Code
17	Gen-LaneNet	31	No	Gen-LaneNet: A Generalized and Scalable Approach...	2020-03-24	Code

#1GLane3D(Swin-B)SOTA
67.7
Merge & Split· 2025-03-31
GLane3D : Detecting Lanes with Graph of 3D Keypoints
#2GLane3D(ResNet-50)
64.8
Merge & Split· 2025-03-31
GLane3D : Detecting Lanes with Graph of 3D Keypoints
#3LATRSOTA
61.5
Merge & Split· 2023-08-08
LATR: 3D Lane Detection from Monocular Images with Transformer Code
#4PVALane (Swin-B)
60.8
Merge & Split
No paper
#5PVALane (ResNet-50)
60
Merge & Split
No paper
#6PVALane (ResNet-18)
58.7
Merge & Split
No paper
#7LaneCPP
58.7
Merge & Split· 2024-06-12
LaneCPP: Continuous 3D Lane Detection using Physical Priors
#8BEV-LaneDetSOTA
53.7
Merge & Split· 2022-10-12
BEV-LaneDet: a Simple and Effective 3D Lane Detection Baseline
#9PersFormer (version 1.1)SOTA
53.1
Merge & Split· 2022-03-21
PersFormer: 3D Lane Detection via Perspective Transformer and the OpenLane Benchmark Code
#10Anchor3DLane-T† (multi-frame + iterative regression)
51.7
Merge & Split· 2023-01-06
Anchor3DLane: Learning to Regress 3D Anchors for Monocular 3D Lane Detection Code
#11M^2-3DLaneNet (Camera + Lidar)
51.4
Merge & Split· 2022-09-13
M$^2$-3DLaneNet: Exploring Multi-Modal 3D Lane Detection
#12Anchor3DLane† (iterative regression)
51.2
Merge & Split· 2023-01-06
Anchor3DLane: Learning to Regress 3D Anchors for Monocular 3D Lane Detection Code
#13PersFormer (version 1.2)
50.9
Merge & Split· 2022-03-21
PersFormer: 3D Lane Detection via Perspective Transformer and the OpenLane Benchmark Code
#14Anchor3DLane (ResNet-18)
50.5
Merge & Split· 2023-01-06
Anchor3DLane: Learning to Regress 3D Anchors for Monocular 3D Lane Detection Code
#15CurveFormer
45.4
Merge & Split· 2022-09-16
CurveFormer: 3D Lane Detection by Curve Propagation with Curve Queries and Attention
#163D-LaneNetSOTA
41.7
Merge & Split· 2018-11-26
3D-LaneNet: End-to-End 3D Multiple Lane Detection Code
#17Gen-LaneNet
31
Merge & Split· 2020-03-24
Gen-LaneNet: A Generalized and Scalable Approach for 3D Lane Detection Code