3D Lane Detection on OpenLane 1.0 (test)
63.2Performance (Up & Down)ReManNet
Evaluation results
| Method | Links | |||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ReManNetBackbone=ResNet-502026.03 | 63.2 | — | 67.9 | 68.6 | 65.3 | 60.2 | 59.9 | 65.7 | 0.189 | 0.205 | 0.06 | 0.072 | — | — | — | — | — | — | 94.7 | |
| ReManNetBackbone=ResNet-182026.03 | 61 | — | 66.1 | 66.7 | 63 | 56.9 | 56.8 | 63.5 | 0.222 | 0.265 | 0.069 | 0.089 | — | — | — | — | — | — | 92.8 | |
| Glane3DBackbone=ResNet-502026.03 | 58.2 | — | 71.1 | 60.1 | 60.2 | 55 | 64.8 | 63.9 | 0.193 | 0.234 | 0.065 | 0.09 | — | — | — | — | — | — | — | |
| Glane3DBackbone=ResNet-182026.03 | 55.6 | — | 69.1 | 56.6 | 56.6 | 52.9 | 61.3 | 61.5 | 0.221 | 0.252 | 0.073 | 0.101 | — | — | — | — | — | — | — | |
| LATR2026.03 | 55.2 | — | 68.2 | 57.1 | 55.4 | 52.3 | 61.5 | 61.9 | 0.219 | 0.259 | 0.075 | 0.104 | — | — | — | — | — | — | 92 | |
| PVALaneBackbone=ResNet-502026.03 | 54.1 | — | 67.3 | 62 | 57.2 | 53.4 | 60 | 62.7 | 0.232 | 0.259 | 0.092 | 0.118 | — | — | — | — | — | — | — | |
| Anchor3DLane++Backbone=ResNet-502026.03 | 54.1 | — | 68.4 | 58.3 | 55.4 | 53.1 | 61.1 | 62.4 | 0.202 | 0.237 | 0.073 | 0.1 | — | — | — | — | — | — | 93.4 | |
| LaneCPP2026.03 | 53.6 | — | 64.4 | 56.7 | 54.9 | 52 | 58.7 | 60.3 | 0.264 | 0.31 | 0.077 | 0.117 | — | — | — | — | — | — | — | |
| M²-3DLaneNetModality=Camera + LiDAR, Range=100m, Distance Threshold=1.5m2022.09 | 53.4 | 55.5 | 60.7 | 56.2 | 51.6 | 43.8 | 51.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Anchor3DLaneBackbone=ResNet-502026.03 | 52.7 | — | 60.8 | 56.2 | 54.7 | 49.8 | 56 | 57.5 | 0.233 | 0.246 | 0.08 | 0.106 | — | — | — | — | — | — | 91.6 | |
| M² C-StreamModality=Camera + LiDAR (Depth via LiDAR), Range=100m, Distance Threshold=1.5m2022.09 | 50.4 | 50.9 | 60 | 49 | 50.3 | 43.5 | 48.2 | — | — | — | — | — | — | — | — | — | — | — | — | |
| MapTRv2Backbone=ResNet-502026.03 | 50 | — | 53.2 | 54.9 | 51.3 | 43.1 | 53.1 | 53.6 | 0.267 | 0.312 | 0.074 | 0.105 | — | — | — | — | — | — | 88.9 | |
| Anchor3DLane++Backbone=ResNet-182026.03 | 48.4 | — | 64 | 54.8 | 52.6 | 48.5 | 56.1 | 57.9 | 0.232 | 0.265 | 0.076 | 0.102 | — | — | — | — | — | — | 91.4 | |
| M²-3DLaneNetModality=Camera + LiDAR, Range=75m, Distance Threshold=0.5m2022.09 | 46.7 | 53.8 | 55.4 | 54.1 | 53.4 | 42.6 | 50.9 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Anchor3DLaneBackbone=ResNet-182026.03 | 46.7 | — | 57.2 | 52.5 | 47.8 | 45.4 | 51.2 | 53.7 | 0.276 | 0.311 | 0.107 | 0.138 | — | — | — | — | — | — | 90.9 | |
| Persformer + LiDARModality=Camera + LiDAR, Range=100m, Distance Threshold=1.5m2022.09 | 45.5 | 53 | 58.8 | 53.8 | 49 | 52.6 | 40.9 | — | — | — | — | — | — | — | — | — | — | — | — | |
| CurveFormer2026.03 | 45.2 | — | 56.6 | 49.7 | 49.1 | 42.9 | 45.4 | 50.5 | 0.34 | 0.772 | 0.207 | 0.651 | — | — | — | — | — | — | — | |
| PersformerModality=Camera, Range=100m, Distance Threshold=1.5m2022.09 | 42.4 | 50.5 | 55.6 | 48.6 | 46.6 | 40 | 50.7 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PersFormer2026.03 | 42.4 | — | 55.6 | 48.6 | 46.6 | 40 | 50.7 | 50.5 | 0.485 | 0.553 | 0.364 | 0.431 | — | — | — | — | — | — | 92.3 | |
| 3DLaneNetModality=Camera, Range=100m, Distance Threshold=1.5m2022.09 | 40.8 | 44.1 | 46.5 | 47.5 | 41.5 | 32.1 | 41.7 | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-LaneNet2026.03 | 40.8 | — | 46.5 | 47.5 | 41.5 | 32.1 | 41.7 | 44.1 | 0.479 | 0.572 | 0.367 | 0.443 | — | — | — | — | — | — | — | |
| M²-3DLaneNetModality=Camera + LiDAR, Range=100m, Distance Threshold=0.5m2022.09 | 37.8 | 48.2 | 45.5 | 46.5 | 43 | 36 | 42.1 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Persformer + LiDARModality=Camera + LiDAR, Range=75m, Distance Threshold=0.5m2022.09 | 37.5 | 45.1 | 44.3 | 49.3 | 45.3 | 35.2 | 42.8 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Persformer + LiDARModality=Camera + LiDAR, Range=100m, Distance Threshold=0.5m2022.09 | 36.2 | 42.6 | 42.4 | 44.1 | 39.7 | 31.9 | 42.1 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PersformerModality=Camera, Range=75m, Distance Threshold=0.5m2022.09 | 29.6 | 35.3 | 35.1 | 40.2 | 32.4 | 26.3 | 33.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PersformerModality=Camera, Range=100m, Distance Threshold=0.5m2022.09 | 28 | 32 | 32.5 | 35.7 | 28.9 | 23.6 | 30.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| GenLaneNetModality=Camera, Range=100m, Distance Threshold=1.5m2022.09 | 25.4 | 32.3 | 33.5 | 28.1 | 18.7 | 21.4 | 31 | — | — | — | — | — | — | — | — | — | — | — | — | |
| GenLaneNet2026.03 | 25.4 | — | 33.5 | 28.1 | 18.7 | 21.4 | 31 | 32.3 | 0.591 | 0.684 | 0.411 | 0.521 | — | — | — | — | — | — | — | |
| 3D-LaneNetBackbone=VGG-16, Resolution=360 x 4802026.01 | — | — | — | — | — | — | — | 44.1 | 0.479 | 0.572 | 0.367 | 0.443 | 40.8 | 46.5 | 47.5 | 41.5 | 32.1 | 41.7 | — | |
| Anchor3DLane-TBackbone=ResNet-18, Resolution=360 x 4802026.01 | — | — | — | — | — | — | — | 54.3 | 0.275 | 0.31 | 0.105 | 0.135 | 47.2 | 58 | 52.7 | 48.7 | 45.8 | 51.7 | — | |
| BEV-LaneDetBackbone=ResNet-34, Resolution=360 x 4802026.01 | — | — | — | — | — | — | — | 58.4 | 0.309 | 0.659 | 0.244 | 0.631 | 48.7 | 63.1 | 53.4 | 53.4 | 50.3 | 53.7 | — | |
| CurveFormerBackbone=EfficientNet-B7, Resolution=360 x 4802026.01 | — | — | — | — | — | — | — | 50.5 | 0.34 | 0.772 | 0.207 | 0.651 | 45.2 | 56.6 | 49.7 | 49.1 | 42.9 | 45.4 | — | |
| Gen-LaneNetBackbone=ERFNet, Resolution=360 x 4802026.01 | — | — | — | — | — | — | — | 32.3 | 0.591 | 0.684 | 0.411 | 0.521 | 25.4 | 33.5 | 28.1 | 18.7 | 21.4 | 31 | — | |
| GroupLaneBackbone=ConvNext-Base, Resolution=not specified2026.01 | — | — | — | — | — | — | — | 64.1 | 0.32 | 0.441 | 0.233 | 0.402 | — | — | — | — | — | — | — | |
| LaneCPPBackbone=EfficientNet-B7, Resolution=360 x 4802026.01 | — | — | — | — | — | — | — | 60.3 | 0.264 | 0.31 | 0.077 | 0.117 | 53.6 | 64.4 | 56.7 | 54.9 | 52 | 58.7 | — | |
| LATRBackbone=ResNet-50, Resolution=720 x 9602026.01 | — | — | — | — | — | — | — | 61.9 | 0.219 | 0.259 | 0.075 | 0.104 | 55.2 | 68.2 | 57.1 | 55.4 | 52.3 | 61.5 | — | |
| PersFormerBackbone=EfficientNet-B7, Resolution=360 x 4802026.01 | — | — | — | — | — | — | — | 50.5 | 0.485 | 0.553 | 0.364 | 0.431 | 42.4 | 55.6 | 48.6 | 46.6 | 40 | 50.7 | — | |
| PETRv2Backbone=VoV-99, Resolution=360 x 4802026.01 | — | — | — | — | — | — | — | 61.2 | 0.4 | 0.573 | 0.265 | 0.413 | — | — | — | — | — | — | — | |
| PVALaneBackbone=Swin-B, Resolution=720 x 9602026.01 | — | — | — | — | — | — | — | 63.4 | 0.226 | 0.257 | 0.093 | 0.119 | 56.1 | 67.7 | 64 | 58.6 | 53.6 | 60.8 | — | |
| SparseLaneSTPBackbone=ResNet-50, Resolution=720 x 9602026.01 | — | — | — | — | — | — | — | 66.1 | 0.203 | 0.24 | 0.066 | 0.092 | 57.3 | 73 | 60.1 | 58.3 | 58.2 | 66.5 | — |