Lane Detection on OpenLane

Metric: F1 (all) (higher is better)

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#	Model↕	F1 (all)▼	Extra Data	Paper	Date↕	Code
1	GLane3D(Swin-B)	66	No	GLane3D : Detecting Lanes with Graph of 3D Keypo...	2025-03-31	-
2	GLane3D(ResNet-50)	63.9	No	GLane3D : Detecting Lanes with Graph of 3D Keypo...	2025-03-31	-
3	PVALane (Swin-B)	63.4	No	-	-	-
4	PVALane (ResNet-50)	62.7	No	-	-	-
5	LATR	61.9	No	LATR: 3D Lane Detection from Monocular Images wi...	2023-08-08	Code
6	RFTR (ResNet-50)	61.8	No	RepVF: A Unified Vector Fields Representation fo...	2024-07-15	Code
7	PVALane (ResNet-18)	61.2	No	-	-	-
8	PETRv2-V∗ (VoVNetV2 with 400 anchor points)	61.2	No	PETRv2: A Unified Framework for 3D Perception fr...	2022-06-02	Code
9	LaneCPP	60.3	No	LaneCPP: Continuous 3D Lane Detection using Phys...	2024-06-12	-
10	BEV-LaneDet	58.4	No	BEV-LaneDet: a Simple and Effective 3D Lane Dete...	2022-10-12	-
11	PETRv2-V (VoVNetV2)	57.8	No	PETRv2: A Unified Framework for 3D Perception fr...	2022-06-02	Code
12	M^2-3DLaneNet (Camera + Lidar)	55.5	No	M$^2$-3DLaneNet: Exploring Multi-Modal 3D Lane D...	2022-09-13	-
13	Anchor3DLane-T† (multi-frame + iterative regression)	54.3	No	Anchor3DLane: Learning to Regress 3D Anchors for...	2023-01-06	Code
14	Anchor3DLane† (iterative regression)	53.7	No	Anchor3DLane: Learning to Regress 3D Anchors for...	2023-01-06	Code
15	Anchor3DLane (ResNet-18)	53.1	No	Anchor3DLane: Learning to Regress 3D Anchors for...	2023-01-06	Code
16	PersFormer (version 1.2)	52.9	No	PersFormer: 3D Lane Detection via Perspective Tr...	2022-03-21	Code
17	PETRv2-E (EfficientNet)	51.9	No	PETRv2: A Unified Framework for 3D Perception fr...	2022-06-02	Code
18	PersFormer (version 1.1)	50.5	No	PersFormer: 3D Lane Detection via Perspective Tr...	2022-03-21	Code
19	CurveFormer	50.5	No	CurveFormer: 3D Lane Detection by Curve Propagat...	2022-09-16	-
20	3D-LaneNet	44.1	No	3D-LaneNet: End-to-End 3D Multiple Lane Detection	2018-11-26	Code
21	Gen-LaneNet	32.3	No	Gen-LaneNet: A Generalized and Scalable Approach...	2020-03-24	Code

#1GLane3D(Swin-B)SOTA
66
F1 (all)· 2025-03-31
GLane3D : Detecting Lanes with Graph of 3D Keypoints
#2GLane3D(ResNet-50)
63.9
F1 (all)· 2025-03-31
GLane3D : Detecting Lanes with Graph of 3D Keypoints
#3PVALane (Swin-B)
63.4
F1 (all)
No paper
#4PVALane (ResNet-50)
62.7
F1 (all)
No paper
#5LATRSOTA
61.9
F1 (all)· 2023-08-08
LATR: 3D Lane Detection from Monocular Images with Transformer Code
#6RFTR (ResNet-50)
61.8
F1 (all)· 2024-07-15
RepVF: A Unified Vector Fields Representation for Multi-task 3D Perception Code
#7PVALane (ResNet-18)
61.2
F1 (all)
No paper
#8PETRv2-V∗ (VoVNetV2 with 400 anchor points)SOTA
61.2
F1 (all)· 2022-06-02
PETRv2: A Unified Framework for 3D Perception from Multi-Camera Images Code
#9LaneCPP
60.3
F1 (all)· 2024-06-12
LaneCPP: Continuous 3D Lane Detection using Physical Priors
#10BEV-LaneDet
58.4
F1 (all)· 2022-10-12
BEV-LaneDet: a Simple and Effective 3D Lane Detection Baseline
#11PETRv2-V (VoVNetV2)
57.8
F1 (all)· 2022-06-02
PETRv2: A Unified Framework for 3D Perception from Multi-Camera Images Code
#12M^2-3DLaneNet (Camera + Lidar)
55.5
F1 (all)· 2022-09-13
M$^2$-3DLaneNet: Exploring Multi-Modal 3D Lane Detection
#13Anchor3DLane-T† (multi-frame + iterative regression)
54.3
F1 (all)· 2023-01-06
Anchor3DLane: Learning to Regress 3D Anchors for Monocular 3D Lane Detection Code
#14Anchor3DLane† (iterative regression)
53.7
F1 (all)· 2023-01-06
Anchor3DLane: Learning to Regress 3D Anchors for Monocular 3D Lane Detection Code
#15Anchor3DLane (ResNet-18)
53.1
F1 (all)· 2023-01-06
Anchor3DLane: Learning to Regress 3D Anchors for Monocular 3D Lane Detection Code
#16PersFormer (version 1.2)SOTA
52.9
F1 (all)· 2022-03-21
PersFormer: 3D Lane Detection via Perspective Transformer and the OpenLane Benchmark Code
#17PETRv2-E (EfficientNet)
51.9
F1 (all)· 2022-06-02
PETRv2: A Unified Framework for 3D Perception from Multi-Camera Images Code
#18PersFormer (version 1.1)
50.5
F1 (all)· 2022-03-21
PersFormer: 3D Lane Detection via Perspective Transformer and the OpenLane Benchmark Code
#19CurveFormer
50.5
F1 (all)· 2022-09-16
CurveFormer: 3D Lane Detection by Curve Propagation with Curve Queries and Attention
#203D-LaneNetSOTA
44.1
F1 (all)· 2018-11-26
3D-LaneNet: End-to-End 3D Multiple Lane Detection Code
#21Gen-LaneNet
32.3
F1 (all)· 2020-03-24
Gen-LaneNet: A Generalized and Scalable Approach for 3D Lane Detection Code