Lane Detection on CULane (test)
94.36F1 Score (Normal)CLRerNet‡†
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| CLRerNet‡†Backbone=DLA34, Training=Boosted with EMA, Epochs=602023.05 | 94.36 | 80.62 | 76.92 | 57.31 | 84.35 | 91.17 | 75.23 | 79.11 | 1,540 | 81.43 | 185 | 18.4 | — | — | — | — | |
| CLRerNet-DLA34Method category=General2026.03 | 94.36 | 80.62 | 76.92 | 57.31 | 84.35 | 91.17 | 75.23 | 79.11 | 1,540 | 81.43 | — | — | — | — | — | — | |
| GFSRBackbone=RepViT, GFLOPs=14.7, FPS=1172026.05 | 94.32 | 79.86 | 76.17 | 55.23 | 84.21 | 90.75 | 73.96 | 79.09 | 965 | — | — | — | — | — | 81.21 | 64.49 | |
| GFSRBackbone=DLA34, GFLOPs=18.8, FPS=1022026.05 | 94.27 | 80.22 | 76.55 | 55.39 | 83.53 | 90.5 | 75.99 | 77.71 | 880 | — | — | — | — | — | 81.46 | 65.01 | |
| CondLSTR-LMethod category=General2026.03 | 94.17 | 79.9 | 75.11 | 55 | 80.99 | 90.97 | 75.43 | 76.87 | 1,047 | 80.77 | — | — | — | — | — | — | |
| CondLSTRBackbone=Res101, GFLOPs=50.2, FPS=772026.05 | 94.17 | 79.9 | 75.11 | 55 | 80.99 | 90.97 | 75.43 | 76.87 | 1,047 | — | — | — | — | — | 80.77 | — | |
| DLNetBackbone=DLA34, GFLOPs=18.8, FPS=1042026.05 | 94.1 | 80.13 | 76.18 | 56.77 | 83.97 | 90.69 | 76.24 | 74.15 | 1,098 | — | — | — | — | — | 81.23 | 64.75 | |
| GFSRBackbone=Res34, GFLOPs=21.7, FPS=1122026.05 | 94.09 | 79.58 | 75.95 | 55.47 | 81.8 | 91.47 | 73.63 | 77.97 | 1,045 | — | — | — | — | — | 80.9 | 64.13 | |
| GFSRBackbone=Res50, GFLOPs=24.0, FPS=872026.05 | 94.06 | 80.07 | 76.02 | 55.44 | 83.59 | 90.48 | 74.6 | 76.57 | 986 | — | — | — | — | — | 81.14 | 64.78 | |
| CLRNet†Backbone=DLA34, Protocol=Author implementation2023.05 | 94.03 | 79.78 | 76.4 | 56.02 | 81.94 | 90.67 | 75.23 | 74.57 | 1,184 | 80.86 | 185 | 18.4 | — | — | — | — | |
| CLRerNet†Backbone=DLA342023.05 | 94.02 | 80.2 | 76.53 | 56.27 | 83.71 | 90.39 | 74.41 | 74.67 | 1,161 | 81.12 | 185 | 18.4 | — | — | — | — | |
| CLRerNetBackbone=DLA34, GFLOPs=18.4, FPS=1022026.05 | 94.02 | 80.2 | 76.53 | 56.27 | 83.71 | 90.39 | 74.41 | 74.67 | 1,161 | — | — | — | — | — | 81.12 | 64.07 | |
| RCLane-LMethod category=Keypoint-based2026.03 | 94.01 | 79.13 | 75.1 | 53.94 | 81.16 | 90.51 | 72.92 | 79.66 | 931 | 80.5 | — | — | — | — | — | — | |
| GFSRBackbone=Res101, GFLOPs=43.9, FPS=572026.05 | 93.97 | 80.1 | 76.05 | 55.74 | 83.09 | 90.86 | 72.59 | 77.64 | 1,045 | — | — | — | — | — | 81.1 | 64.8 | |
| CLRNet†Backbone=Res101, Protocol=Author implementation2023.05 | 93.95 | 79.6 | 76.01 | 55.76 | 81.58 | 90.42 | 72.91 | 74.06 | 1,166 | 80.67 | 94 | 42.9 | — | — | — | — | |
| FLAMNetBackbone=DLA342024.05 | 93.94 | 79.35 | 76.49 | 54.62 | 82.94 | 90.51 | 77.02 | 75.23 | 1,205 | 80.67 | 101 | — | — | — | — | — | |
| CLRerNet†Backbone=Res342023.05 | 93.93 | 79.51 | 76.02 | 55.55 | 83.16 | 90.87 | 73.88 | 74.45 | 1,088 | 80.76 | 204 | 21.5 | — | — | — | — | |
| CLRerNetBackbone=Res34, GFLOPs=21.5, FPS=1122026.05 | 93.93 | 79.51 | 76.53 | 55.55 | 83.16 | 90.87 | 73.88 | 74.45 | 1,088 | — | — | — | — | — | 80.76 | 63.77 | |
| OpenPifPaf (ShuffleNetv2K32)Method category=Keypoint-based, Backbone=ShuffleNetv2K322026.03 | 93.92 | 79.79 | 76.54 | 58.28 | 81.67 | 91.66 | 71.77 | 76.43 | 1,210 | 80.01 | — | — | — | — | — | — | |
| LATRBackbone=Swin-B, GFLOPs=16.82026.05 | 93.92 | 80.21 | 75.81 | 55.42 | 81.65 | 89.53 | 76.04 | 75.66 | 1,043 | — | — | — | — | — | 80.85 | — | |
| CLRerNet†Backbone=Res1012023.05 | 93.91 | 80.03 | 76.13 | 55.73 | 82.92 | 90.53 | 72.98 | 73.83 | 1,113 | 80.91 | 94 | 42.9 | — | — | — | — | |
| CLRerNetBackbone=Res101, GFLOPs=42.9, FPS=572026.05 | 93.91 | 80.03 | 76.13 | 55.73 | 82.92 | 90.53 | 72.98 | 73.83 | 1,113 | — | — | — | — | — | 80.91 | 64.3 | |
| GFSRBackbone=Res18, GFLOPs=12.4, FPS=1292026.05 | 93.91 | 79.37 | 75.94 | 53.56 | 82.41 | 90.62 | 72.03 | 75.59 | 918 | — | — | — | — | — | 80.64 | 64.12 | |
| O2SFormerBackbone=ResNet50, Hybrid-encoder=true2023.05 | 93.89 | 82.03 | 80.48 | 71.46 | 83.89 | 92.11 | 80.29 | 76.21 | 3,208 | 78 | — | 43.11 | — | — | — | — | |
| CLRKDNetBackbone=DLA342024.05 | 93.86 | 79.95 | 75.82 | 54.85 | 81.88 | 90.42 | 75.63 | 72.81 | 1,147 | 80.68 | 265 | — | — | — | — | — | |
| CLRKDNetBackbone=DLA342026.05 | 93.86 | 79.95 | 75.82 | 54.85 | 81.88 | 90.42 | 75.63 | 72.81 | 1,147 | — | — | — | — | — | 80.68 | — | |
| CLRNetBackbone=Res1012023.05 | 93.85 | 78.78 | 75.51 | 54.5 | 82.33 | 89.79 | 72.49 | 75.57 | 1,262 | 80.13 | 94 | 42.9 | — | — | — | — | |
| CLRNet†Backbone=Res34, Protocol=Author implementation2023.05 | 93.85 | 79.22 | 75.92 | 55.26 | 82.5 | 90.84 | 73.32 | 74.06 | 1,106 | 80.54 | 204 | 21.5 | — | — | — | — | |
| CLRNetBackbone=ResNet1012024.05 | 93.85 | 78.78 | 75.51 | 54.5 | 82.33 | 89.79 | 72.49 | 75.57 | 1,262 | 80.13 | 46 | — | — | — | — | — | |
| CLRNetBackbone=Res101, GFLOPs=42.9, FPS=572026.05 | 93.85 | 78.78 | 75.51 | 54.5 | 82.33 | 89.79 | 72.49 | 75.57 | 1,262 | — | — | — | — | — | 80.13 | 62.96 | |
| CLRerNetBackbone=Res50, GFLOPs=23.9, FPS=872026.05 | 93.83 | 79.74 | 76.23 | 56.62 | 83.27 | 90.78 | 74.68 | 73.55 | 1,256 | — | — | — | — | — | 80.84 | 64.06 | |
| CLRerNetBackbone=Res18, GFLOPs=11.9, FPS=1292026.05 | 93.79 | 78.69 | 75.81 | 54.97 | 82.59 | 90.38 | 74.88 | 71.7 | 1,061 | — | — | — | — | — | 80.38 | 63.7 | |
| BSNetEncoder=ResNet34, MACs(G)=17.2, Representation=Parameter based2024.02 | 93.75 | 78.01 | 75.28 | 54.69 | 79.55 | 90.72 | 76.65 | 73.99 | 1,445 | 79.89 | — | — | — | — | — | — | |
| GANet-MMethod paradigm=Keypoint-based, Model Scale=M, FPS=1272022.04 | 93.73 | 77.92 | 73.67 | 52.63 | 79.49 | 90.37 | 71.64 | 76.32 | 1,368 | 79.39 | — | — | — | — | — | — | |
| CLRNetBackbone=DLA342023.05 | 93.73 | 79.59 | 75.37 | 54.58 | 82.51 | 90.62 | 75.3 | 74.13 | 1,155 | 80.47 | 185 | 18.4 | — | — | — | — | |
| CLRNetBackbone=DLA342024.05 | 93.73 | 79.59 | 75.37 | 54.58 | 82.51 | 90.62 | 75.3 | 74.13 | 1,155 | 80.47 | 185 | — | — | — | — | — | |
| CLRNet-DLA34Method category=General2026.03 | 93.73 | 79.59 | 75.37 | 54.58 | 82.51 | 90.62 | 75.3 | 74.13 | 1,155 | 80.47 | — | — | — | — | — | — | |
| GANet-MMethod category=Keypoint-based2026.03 | 93.73 | 77.92 | 73.67 | 52.63 | 79.49 | 90.37 | 71.64 | 76.32 | 1,368 | 79.39 | — | — | — | — | — | — | |
| CLRNetBackbone=DLA34, GFLOPs=18.4, FPS=1022026.05 | 93.73 | 79.59 | 75.37 | 54.58 | 82.51 | 90.62 | 75.3 | 74.13 | 1,155 | — | — | — | — | — | 80.47 | 62.78 | |
| GANet-LMethod paradigm=Keypoint-based, Model Scale=L, FPS=632022.04 | 93.67 | 78.66 | 73.85 | 53.38 | 78.32 | 89.86 | 71.82 | 77.37 | 1,352 | 79.63 | — | — | — | — | — | — | |
| GANet-LMethod category=Keypoint-based2026.03 | 93.67 | 78.66 | 73.85 | 53.38 | 78.32 | 89.86 | 71.82 | 77.37 | 1,352 | 79.63 | — | — | — | — | — | — | |
| GANetBackbone=Res1012026.05 | 93.67 | 78.66 | 73.85 | 53.38 | 78.32 | 89.86 | 71.82 | 77.37 | 1,352 | — | — | — | — | — | 79.63 | — | |
| FLAMNetBackbone=ResNet342024.05 | 93.61 | 78.35 | 75.5 | 53.68 | 81.31 | 90.67 | 73.64 | 73.38 | 982 | 80.15 | 93 | — | — | — | — | — | |
| CANET-Lmodel_variant=L2023.04 | 93.6 | 78.74 | 74.91 | 52.88 | 79.35 | 90.18 | 70.07 | 76.69 | 1,196 | 79.86 | — | — | — | — | — | — | |
| RCLane-MMethod category=Keypoint-based2026.03 | 93.59 | 78.77 | 73.96 | 52.77 | 84.37 | 90.31 | 72.44 | 78.39 | 907 | 80.03 | — | — | — | — | — | — | |
| CANET-Mmodel_variant=M2023.04 | 93.58 | 77.88 | 73.92 | 51.68 | 75.06 | 90.09 | 73.11 | 75.54 | 1,176 | 79.16 | — | — | — | — | — | — | |
| CLRNetBackbone=Res342023.05 | 93.49 | 78.06 | 75.02 | 54.01 | 79.92 | 90.59 | 74.57 | 72.77 | 1,216 | 79.73 | 204 | 21.5 | — | — | — | — | |
| CLRNetEncoder=ResNet34, MACs(G)=17.3, Representation=Anchor based2024.02 | 93.49 | 78.06 | 75.02 | 54.01 | 79.92 | 90.59 | 74.57 | 72.77 | 1,216 | 79.73 | — | — | — | — | — | — | |
| CLRNetBackbone=Res34, GFLOPs=21.5, FPS=872026.05 | 93.49 | 78.06 | 75.02 | 54.01 | 79.92 | 90.59 | 74.57 | 72.77 | 1,216 | — | — | — | — | — | 79.73 | 62.11 | |
| CondLaneNet-LargeFPS=58, GFlops(G)=44.82021.05 | 93.47 | 77.44 | 74.8 | 54.13 | 80.91 | 90.16 | 70.93 | 75.21 | 1,201 | 79.48 | — | — | — | — | — | — | |
| CondLaneNet-Lmodel_variant=L2023.04 | 93.47 | 77.44 | 74.8 | 54.13 | 80.91 | 90.16 | 70.93 | 75.21 | 1,201 | 79.48 | — | — | — | — | — | — | |
| CondLaneBackbone=Res1012023.05 | 93.47 | 77.44 | 74.8 | 54.13 | 80.91 | 90.16 | 70.93 | 75.21 | 1,201 | 79.48 | 97 | 44.8 | — | — | — | — | |
| CondLaneNet-LMethod category=General2026.03 | 93.47 | 77.44 | 74.8 | 54.13 | 80.91 | 90.16 | 70.93 | 75.21 | 1,201 | 79.48 | — | — | — | — | — | — | |
| CondLaneNetBackbone=Res101, GFLOPs=44.8, FPS=792026.05 | 93.47 | 77.44 | 74.8 | 54.13 | 80.91 | 90.16 | 70.93 | 75.21 | 1,201 | — | — | — | — | — | 79.48 | 61.23 | |
| Lane2SeqEncoder=ViT-Base, MACs(G)=15.19, Representation=Segmentation based2024.02 | 93.39 | 77.27 | 74.96 | 53.91 | 79.69 | 90.53 | 73.45 | 73.37 | 1,129 | 79.64 | — | — | — | — | — | — | |
| CondLaneNet-MediumFPS=152, GFlops(G)=19.62021.05 | 93.38 | 77.14 | 73.92 | 51.85 | 79.93 | 89.89 | 71.17 | 73.88 | 1,387 | 78.74 | — | — | — | — | — | — | |
| CondLaneNet-Mmodel_variant=M2023.04 | 93.38 | 77.14 | 73.92 | 51.85 | 79.93 | 89.89 | 71.17 | 73.88 | 1,387 | 78.74 | — | — | — | — | — | — | |
| CondLaneBackbone=Res342023.05 | 93.38 | 77.14 | 73.92 | 51.85 | 79.93 | 89.89 | 71.17 | 73.88 | 1,387 | 78.74 | 237 | 19.6 | — | — | — | — | |
| CondLaneNetEncoder=ResNet34, MACs(G)=19.6, Representation=Anchor based2024.02 | 93.38 | 77.14 | 73.92 | 51.85 | 79.93 | 89.89 | 71.17 | 73.88 | 1,387 | 78.74 | — | — | — | — | — | — | |
| CondLaneNetBackbone=ResNet342024.05 | 93.38 | 77.14 | 73.92 | 51.85 | 79.93 | 89.89 | 71.17 | 73.88 | 1,387 | 78.74 | 237 | — | — | — | — | — | |
| CLRNet-CDOBackbone=ResNet-34, CDO Module integration=true2026.01 | 93.38 | 78.12 | 74.95 | 52.28 | 79.43 | 90.51 | — | 70.72 | 1,150 | — | — | — | — | — | 79.61 | — | |
| CondLaneNet-MMethod category=General2026.03 | 93.38 | 77.14 | 73.92 | 51.85 | 79.93 | 89.89 | 71.17 | 73.88 | 1,387 | 78.74 | — | — | — | — | — | — | |
| CLRNetBackbone=ResNet-34, CDO Module integration=false2026.01 | 93.35 | 78.1 | 74.94 | 52.92 | 79.48 | 90.22 | — | 70.46 | 1,068 | — | — | — | — | — | 79.6 | — | |
| CLRKDNetBackbone=ResNet182024.05 | 93.34 | 78.19 | 79.66 | 52.61 | 80.46 | 89.98 | 74.62 | 69.17 | 904 | 79.66 | 450 | — | — | — | — | — | |
| CLRNetBackbone=ResNet182024.05 | 93.3 | 78.33 | 75.11 | 53.15 | 79.66 | 90.25 | 73.71 | 71.56 | 1,321 | 79.58 | 275 | — | — | — | — | — | |
| CLRNetBackbone=Res18, GFLOPs=11.9, FPS=1122026.05 | 93.3 | 78.33 | 75.11 | 53.14 | 79.66 | 90.25 | 73.71 | 71.56 | 1,321 | — | — | — | — | — | 79.58 | 62.21 | |
| GANet-SMethod paradigm=Keypoint-based, Model Scale=S, FPS=1532022.04 | 93.24 | 77.16 | 72.75 | 53.59 | 77.88 | 89.62 | 71.24 | 75.92 | 1,240 | 78.79 | — | — | — | — | — | — | |
| GANet-SMethod category=Keypoint-based2026.03 | 93.24 | 77.16 | 72.75 | 53.59 | 77.88 | 89.62 | 71.24 | 75.92 | 1,240 | 78.79 | — | — | — | — | — | — | |
| OpenPifPaf (ShuffleNetv2K16)Method category=Keypoint-based, Backbone=ShuffleNetv2K162026.03 | 93.16 | 78.61 | 75.19 | 57.23 | 80.24 | 90.61 | 73.77 | 77.52 | 1,342 | 78.5 | — | — | — | — | — | — | |
| Lane2SeqEncoder=ViT-Base, MACs(G)=15.19, Representation=Anchor based2024.02 | 93.11 | 77.43 | 75.12 | 53.74 | 79.46 | 90.02 | 73.25 | 72.44 | 1,173 | 79.27 | — | — | — | — | — | — | |
| O2SFormerBackbone=ResNet502023.05 | 93.09 | 76.57 | 73.85 | 52.8 | 76.56 | 89.5 | 72.25 | 69.6 | 3,118 | 77.83 | — | 27.51 | — | — | — | — | |
| O2SFormerEncoder=ResNet50, MACs(G)=27.51, Representation=Anchor based2024.02 | 93.09 | 76.57 | 73.85 | 52.8 | 76.56 | 89.5 | 72.25 | 69.6 | 3,118 | 77.83 | — | — | — | — | — | — | |
| CANET-Smodel_variant=S2023.04 | 93.07 | 76.59 | 72.91 | 52.24 | 77.82 | 89.39 | 70.51 | 72.48 | 1,213 | 78.46 | — | — | — | — | — | — | |
| Lane2SeqEncoder=ViT-Base, MACs(G)=15.19, Representation=Parameter based2024.02 | 93.03 | 76.42 | 73.98 | 52.89 | 78.32 | 89.67 | 72.17 | 72.67 | 1,319 | 78.39 | — | — | — | — | — | — | |
| ADNetEncoder=ResNet34, MACs(G)=18.6, Representation=Anchor based2024.02 | 92.9 | 77.45 | 74.78 | 52.89 | 79.11 | 89.9 | 71.71 | 70.64 | 1,499 | 78.94 | — | — | — | — | — | — | |
| CondLaneNet-SmallFPS=220, GFlops(G)=10.22021.05 | 92.87 | 75.79 | 73.23 | 52.39 | 80.01 | 89.37 | 70.72 | 72.4 | 1,364 | 78.14 | — | — | — | — | — | — | |
| CondLaneNet-Smodel_variant=S2023.04 | 92.87 | 75.79 | 73.23 | 52.39 | 80.01 | 89.37 | 70.72 | 72.4 | 1,364 | 78.14 | — | — | — | — | — | — | |
| CondLaneBackbone=Res182023.05 | 92.87 | 75.79 | 73.23 | 52.39 | 80.01 | 89.37 | 70.72 | 72.4 | 1,364 | 78.14 | 348 | 10.2 | — | — | — | — | |
| CondLaneNetBackbone=ResNet182024.05 | 92.87 | 75.79 | 73.23 | 52.39 | 80.01 | 89.37 | 70.72 | 72.4 | 1,364 | 78.14 | 348 | — | — | — | — | — | |
| CondLaneNet-SMethod category=General2026.03 | 92.87 | 75.79 | 73.23 | 52.39 | 80.01 | 89.37 | 70.72 | 72.4 | 1,364 | 78.14 | — | — | — | — | — | — | |
| XR34-OursSpeed (ms)=442022.03 | 92.83 | 75.96 | 73.74 | 50.15 | 77.86 | 88.66 | 69.48 | 71.14 | 1,054 | 78.08 | — | — | — | — | — | — | |
| AtrousFormerEncoder=ResNet34, MACs(G)=14.22, Representation=Segmentation based2024.02 | 92.83 | 75.96 | 73.74 | 50.15 | 77.86 | 88.66 | 69.48 | 71.14 | 1,054 | 78.08 | — | — | — | — | — | — | |
| R18-LightSpeed (ms)=202022.03 | 92.77 | 74.69 | 72.85 | 49.25 | 69.68 | 88.09 | 66.89 | 70.59 | 1,096 | 77.03 | — | — | — | — | — | — | |
| XR18-OursSpeed (ms)=362022.03 | 92.72 | 75.56 | 73.49 | 50.07 | 73.67 | 88.82 | 68.16 | 70.32 | 1,169 | 77.63 | — | — | — | — | — | — | |
| FOLOLaneIoU threshold=0.52021.05 | 92.7 | 77.8 | 74.5 | 52.1 | 79.3 | 89 | 75.2 | 69.4 | 1,569 | 78.8 | — | — | — | — | — | — | |
| FOLOLane2021.10 | 92.7 | 77.8 | 74.5 | 52.1 | 79.3 | 89 | 75.2 | 69.4 | 1,569 | 78.8 | 40 | — | — | — | — | — | |
| FOLOLane-ERFMethod paradigm=Keypoint-based, FPS=402022.04 | 92.7 | 77.8 | 74.5 | 52.1 | 79.3 | 89 | 75.2 | 69.4 | 1,569 | 78.8 | — | — | — | — | — | — | |
| FoloLaneMethod category=Keypoint-based2026.03 | 92.7 | 77.8 | 74.5 | 52.1 | 79.3 | 89 | 75.2 | 69.4 | 1,569 | 78.8 | — | — | — | — | — | — | |
| LaneATT+†Backbone=Res34, Assignment=LaneIoU2023.05 | 92.6 | 76.42 | 72.78 | 52.01 | 77.59 | 88.75 | 69.12 | 64.49 | 974 | 78.19 | 153 | 18 | — | — | — | — | |
| UFLDv2-Mmodel_variant=M2023.04 | 92.5 | 74.9 | 70.6 | 49 | 75.3 | 88.5 | 65.7 | 70.2 | 1,864 | 75.9 | — | — | — | — | — | — | |
| O2SFormerBackbone=ResNet342023.05 | 92.5 | 75.25 | 72.88 | 50.97 | 77.72 | 87.63 | 70.93 | 68.1 | 2,749 | 77.03 | — | 25.05 | — | — | — | — | |
| UFLDv2Backbone=ResNet-342023.01 | 92.5 | 74.8 | 70.8 | 49.2 | 75.5 | 88.8 | 65.5 | 70.1 | 1,910 | 76 | — | — | — | — | — | — | |
| UFLDv2Backbone=ResNet342024.05 | 92.5 | 74.9 | 70.6 | 49 | 75.3 | 88.5 | 65.7 | 70.2 | 1,864 | 75.9 | 165 | — | — | — | — | — | |
| UFLDv2Backbone=Res34, FPS=1452026.05 | 92.5 | 74.8 | 70.8 | 49.2 | 75.5 | 88.8 | 65.5 | 70.1 | 1,910 | — | — | — | — | — | 76 | — | |
| PolySnakeBackbone=ResNet-342023.01 | 92.49 | 75.02 | 72.3 | 48.33 | 75.27 | 87.35 | 68.73 | 67.55 | 899 | 76.82 | — | — | — | — | — | — | |
| LaneATT†Backbone=Res34, Protocol=Author implementation2023.05 | 92.48 | 75.47 | 72.58 | 50.96 | 73.21 | 88.72 | 68.09 | 68.18 | 1,054 | 77.51 | 170 | 18 | — | — | — | — | |
| ERFNet-CDOCDO Module integration=true2026.01 | 92.31 | 73.58 | 70.26 | 47.84 | 74.77 | 87.93 | — | 68.6 | 2,472 | — | — | — | — | — | 74.93 | — | |
| RESA-CDOBackbone=ResNet-34, CDO Module integration=true2026.01 | 92.31 | 72.7 | 70.07 | 47.26 | 76.32 | 88.89 | — | 69.31 | 1,679 | — | — | — | — | — | 75.08 | — | |
| LaneATTSource-code availability=available, Backbone=ResNet-34, FPS=171, MACs (G)=182020.10 | 92.14 | 75.03 | 70.72 | 49.39 | 78.15 | 88.38 | 66.47 | 67.72 | 1,330 | 76.68 | — | — | — | — | — | — | |
| R34-LaneATTSpeed (ms)=62022.03 | 92.14 | 75.03 | 70.72 | 49.39 | 78.15 | 88.38 | 66.47 | 67.72 | 1,330 | 76.68 | — | — | — | — | — | — |