# Online Monocular Lane Mapping Using Catmull-Rom Spline

Source: [Online Monocular Lane Mapping Using Catmull-Rom Spline](<https://www.sota2.com/research/paper/68fa701a1e209131cea48ffe>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2025-10-26T01:33:16.495Z

Authors: Zhijian Qiao, Zehuan Yu, Huan Yin, Shaojie Shen

Published: 2023-07-21T15:36:07.000Z

## Abstract

In this study, we introduce an online monocular lane mapping approach that solely relies on a single camera and odometry for generating spline-based maps. Our proposed technique models the lane association process as an assignment issue utilizing a bipartite graph, and assigns weights to the edges by incorporating Chamfer distance, pose uncertainty, and lateral sequence consistency. Furthermore, we meticulously design control point initialization, spline parameterization, and optimization to progressively create, expand, and refine splines. In contrast to prior research that assessed performance using self-constructed datasets, our experiments are conducted on the openly accessible OpenLane dataset. The experimental outcomes reveal that our suggested approach enhances lane association and odometry precision, as well as overall lane map quality. We have open-sourced our code1 for this project.

## Recorded benchmark results

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

- [Lane line mapping on Sequence 1 Short \<500 m](<https://www.sota2.com/research/sota/lane-line-mapping-on-sequence-1-short-500-m.md>): Lane line mapping; Sequence 1 Short \<500 m; APE (Lanes): 0.21.

- [Lane line mapping on Sequence 3 Long \>1000 m](<https://www.sota2.com/research/sota/lane-line-mapping-on-sequence-3-long-1000-m.md>): Lane line mapping; Sequence 3 Long \>1000 m; APE (Lanes): 0.2.

- [Lane line mapping on Sequence 2 Short \<500 m](<https://www.sota2.com/research/sota/lane-line-mapping-on-sequence-2-short-500-m.md>): Lane line mapping; Sequence 2 Short \<500 m; APE (Lanes): 0.2.

- [Lane line mapping on Sequence 4 Long \>1000 m](<https://www.sota2.com/research/sota/lane-line-mapping-on-sequence-4-long-1000-m.md>): Lane line mapping; Sequence 4 Long \>1000 m; APE (Lanes): 0.2.

## Original sources and implementation

[Original paper](<https://arxiv.org/abs/2307.11653>)

[PDF](<https://arxiv.org/pdf/2307.11653.pdf>)