Lane Detection on TuSimple (test)
98.22AccuracyUNet_ConvLSTM
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| UNet_ConvLSTMMACs (G)=69, Params (M)=51.12026.02 | 98.22 | — | — | — | — | 90.4 | — | — | — | 0.857 | 0.958 | |
| STFC_Att-UNet_LSTMMACs (G)=44.9, Params (M)=13.52026.02 | 98.2 | — | — | — | — | 91.7 | — | — | — | 0.886 | 0.95 | |
| ST_Att-UNet_LSTMMACs (G)=44.8, Params (M)=13.52026.02 | 98.14 | — | — | — | — | 90.2 | — | — | — | 0.881 | 0.925 | |
| Tem_Att-UNet_LSTMMACs (G)=44.7, Params (M)=13.52026.02 | 98.05 | — | — | — | — | 89.9 | — | — | — | 0.876 | 0.923 | |
| UNet_DoubleConvGRUParams (M)=13.42026.02 | 98.04 | — | — | — | — | 91.2 | — | — | — | 0.875 | 0.953 | |
| SegNet_ConvLSTMMACs (G)=217, Params (M)=67.22026.02 | 97.96 | — | — | — | — | 90.1 | — | — | — | 0.852 | 0.964 | |
| FOLOLane2021.05 | 96.92 | 0.0447 | 0.0228 | — | — | — | — | — | — | — | — | |
| FOLOLaneBackbone=ERFNet2022.03 | 96.92 | 0.0447 | 0.0228 | — | — | 96.59 | — | — | — | — | — | |
| FOLOLane-ERFFPS=402022.04 | 96.92 | 0.0447 | 0.0228 | — | — | — | — | — | — | — | — | |
| leonardoli2018.02 | 96.9 | 0.0442 | 0.0197 | — | — | — | — | — | — | — | — | |
| Line-CNNFPS=30, Requires Post-Processing=true2020.04 | 96.87 | 0.0442 | 0.0197 | — | — | — | — | — | — | — | — | |
| Line-CNNSource-code availability=unavailable, FPS=302020.10 | 96.87 | — | 0.0197 | — | — | 96.79 | 0.0442 | — | — | — | — | |
| Line-CNNFPS=30, Post-processing=false2020.11 | 96.87 | 0.0442 | 0.0197 | — | — | — | — | — | — | — | — | |
| CLRNetBackbone=ResNet342022.03 | 96.87 | 0.0227 | 0.0208 | — | — | 97.82 | — | — | — | — | — | |
| LineCNNFPS=302022.04 | 96.87 | 0.0442 | 0.0197 | — | — | 96.79 | — | — | — | — | — | |
| LineCNNFPS=30.02021.05 | 96.87 | — | — | — | — | 96.79 | — | 4.42 | 1.97 | — | — | |
| CLRNetBackbone=ResNet34, RT(ms)=4.92024.05 | 96.87 | 0.0227 | 0.0208 | — | — | 97.82 | — | — | — | — | — | |
| CLRNetBackbone=ResNet182022.03 | 96.84 | 0.0228 | 0.0192 | — | — | 97.89 | — | — | — | — | — | |
| CLRNetBackbone=ResNet18, RT(ms)=3.72024.05 | 96.84 | 0.0228 | 0.0192 | — | — | 97.89 | — | — | — | — | — | |
| CLRNetBackbone=ResNet1012022.03 | 96.83 | 0.0237 | 0.0238 | — | — | 97.62 | — | — | — | — | — | |
| CLRNetBackbone=ResNet-34, CDO optimization=true2026.01 | 96.83 | — | — | — | — | — | — | 2.21 | 2.08 | — | — | |
| RESABackbone=ResNet-342020.08 | 96.82 | 0.0363 | 0.0248 | — | — | — | — | — | — | — | — | |
| R18-RESABackbone=ResNet-182022.03 | 96.82 | 3.95 | 2.83 | — | — | — | — | — | — | — | — | |
| RESABackbone=ResNet342022.03 | 96.82 | 0.0363 | 0.0248 | — | — | 96.93 | — | — | — | — | — | |
| RESA2022.03 | 96.82 | 0.0363 | 0.0248 | — | — | — | — | — | — | — | — | |
| CLRKDNetBackbone=ResNet18, RT(ms)=2.42024.05 | 96.8 | 0.0243 | 0.0192 | — | — | 97.78 | — | — | — | — | — | |
| CLRNetBackbone=ResNet-34, CDO optimization=false2026.01 | 96.8 | — | — | — | — | — | — | 2.18 | 2.08 | — | — | |
| CANETVariant=L2023.04 | 96.76 | — | — | — | — | 97.77 | — | 1.92 | 2.53 | — | — | |
| PINet(4H)2021.05 | 96.75 | 0.031 | 0.025 | — | — | — | — | — | — | — | — | |
| PINet2021.03 | 96.75 | 0.031 | 0.025 | — | — | 97.2 | — | — | — | — | — | |
| XR34-OursBackbone=ResNet-342022.03 | 96.71 | 2.82 | 3.24 | — | — | — | — | — | — | — | — | |
| PINetFPS=30, Parameters (M)=4.39, Post-processing=true2020.11 | 96.7 | 0.0294 | 0.0263 | — | — | — | — | — | — | — | — | |
| RESABackbone=ResNet-182020.08 | 96.7 | 0.0395 | 0.0283 | — | — | — | — | — | — | — | — | |
| PINet2022.03 | 96.7 | 2.94 | 2.63 | — | — | — | — | — | — | — | — | |
| R34-RESABackbone=ResNet-342022.03 | 96.7 | 3.96 | 2.48 | — | — | — | — | — | — | — | — | |
| PINet2021.05 | 96.7 | — | — | — | — | 97.21 | — | 2.94 | 2.63 | — | — | |
| CANETVariant=M2023.04 | 96.66 | — | — | — | — | 97.44 | — | 2.32 | 2.79 | — | — | |
| ENet-SADBackbone=ENet, Methodology=Self Attention Distillation2019.08 | 96.64 | 0.0602 | 0.0205 | — | — | — | — | — | — | — | — | |
| ENet-SADFPS=75, Requires Post-Processing=false2020.04 | 96.64 | 0.0602 | 0.0205 | — | — | — | — | — | — | — | — | |
| SADRuntime(ms)=13.4, Multiple=10.0x2020.04 | 96.64 | — | — | — | — | — | — | — | — | — | — | |
| ENet-SADSource-code availability=available, FPS=752020.10 | 96.64 | — | 0.0205 | — | — | 95.92 | 0.0602 | — | — | — | — | |
| ENet-SADFPS=75, Parameters (M)=0.98, Post-processing=true2020.11 | 96.64 | 0.0602 | 0.0205 | — | — | — | — | — | — | — | — | |
| ENet-SADNetwork=ENet-SAD2020.08 | 96.64 | 0.0602 | 0.0205 | — | — | — | — | — | — | — | — | |
| ENet-SAD2021.05 | 96.64 | 0.0602 | 0.0205 | — | — | — | — | — | — | — | — | |
| ENet-SADFPS=752021.05 | 96.64 | — | — | — | — | — | — | — | — | — | — | |
| ENet-SADRuntime (ms)=13.42021.02 | 96.64 | 0.0602 | 0.0205 | — | — | — | — | — | — | — | — | |
| ENet-SAD2022.03 | 96.64 | 6.02 | 2.05 | — | — | — | — | — | — | — | — | |
| SAD2022.03 | 96.64 | 0.0602 | 0.0205 | — | — | — | — | — | — | — | — | |
| ENet-SADFPS=752022.04 | 96.64 | 0.0602 | 0.0205 | — | — | 95.92 | — | — | — | — | — | |
| ENet-SADFPS=75.02021.05 | 96.64 | — | — | — | — | 95.92 | — | 6.02 | 2.05 | — | — | |
| ENet-SAD2021.03 | 96.64 | 0.0602 | 0.0205 | — | — | 95.92 | — | — | — | — | — | |
| XR18-OursBackbone=ResNet-182022.03 | 96.59 | 2.83 | 3.26 | — | — | — | — | — | — | — | — | |
| Ours (SE + FG + BS + Push)Components=Spatial Embedding + Foreground Loss + Bandwidth Saturation + Inter-cluster Push, Image size=1280x720, Hardware=NVIDIA V100 and Xeon Silver 41142020.08 | 96.58 | 0.054 | 0.0177 | 6.64 | 3.2 | — | — | — | — | — | — | |
| CANETVariant=S2023.04 | 96.56 | — | — | — | — | 97.51 | — | 2.29 | 2.68 | — | — | |
| CondLaneNetBackbone=ResNet1012022.03 | 96.54 | 0.0201 | 0.035 | — | — | 97.24 | — | — | — | — | — | |
| CondLaneNet-LSize=Large, FPS=58, GFLOPS=44.82021.05 | 96.54 | — | — | — | — | 97.24 | — | 2.01 | 3.5 | — | — | |
| CondLaneNetVariant=L2023.04 | 96.54 | — | — | — | — | 97.24 | — | 2.01 | 3.5 | — | — | |
| XingangPanExt. data=yes2018.03 | 96.53 | 0.0617 | 0.018 | — | — | — | — | — | — | — | — | |
| SCNN2019.05 | 96.53 | 0.0617 | 0.018 | — | — | — | — | — | — | — | — | |
| SCNNBackbone=SCNN2019.08 | 96.53 | 0.0617 | 0.018 | — | — | — | — | — | — | — | — | |
| SCNN2020.05 | 96.53 | 0.0617 | 0.018 | — | — | — | — | — | — | — | — | |
| SCNNFPS=7, Requires Post-Processing=true2020.04 | 96.53 | 0.0617 | 0.018 | — | — | — | — | — | — | — | — | |
| SCNNRuntime(ms)=133.5, Multiple=1.0x2020.04 | 96.53 | — | — | — | — | — | — | — | — | — | — | |
| SCNNSource-code availability=available, FPS=7.52020.10 | 96.53 | — | 0.018 | — | — | 95.97 | 0.0617 | — | — | — | — | |
| SCNNFPS=7, Parameters (M)=20.72, Post-processing=true2020.11 | 96.53 | 0.0617 | 0.018 | — | — | — | — | — | — | — | — | |
| SCNNNetwork=SCNN2020.08 | 96.53 | 0.0617 | 0.018 | — | — | — | — | — | — | — | — | |
| SCNN2021.05 | 96.53 | 0.0617 | 0.018 | — | — | — | — | — | — | — | — | |
| SCNNFPS=82021.05 | 96.53 | — | — | — | — | — | — | — | — | — | — | |
| SCNNRuntime (ms)=133.52021.02 | 96.53 | 0.0617 | 0.018 | — | — | — | — | — | — | — | — | |
| SCNN2022.03 | 96.53 | 6.17 | 1.8 | — | — | — | — | — | — | — | — | |
| SCNNBackbone=VGG162022.03 | 96.53 | 0.0617 | 0.018 | — | — | 95.97 | — | — | — | — | — | |
| SCNN2022.03 | 96.53 | 0.0617 | 0.018 | — | — | — | — | — | — | — | — | |
| SCNNFPS=7.52022.04 | 96.53 | 0.0617 | 0.018 | — | — | 95.97 | — | — | — | — | — | |
| SCNNFPS=7.52021.05 | 96.53 | — | — | — | — | 95.97 | — | 6.17 | 1.8 | — | — | |
| SCNN2023.04 | 96.53 | — | — | — | — | 95.97 | — | 6.17 | 1.8 | — | — | |
| SCNNBackbone=VGG16, RT(ms)=202024.05 | 96.53 | 0.0617 | 0.018 | — | — | 95.97 | — | — | — | — | — | |
| SCNN2021.03 | 96.53 | 0.0617 | 0.018 | — | — | 96.53 | — | — | — | — | — | |
| XingangPan2018.02 | 96.5 | 0.0617 | 0.018 | — | — | — | — | — | — | — | — | |
| aslarry2018.02 | 96.5 | 0.0851 | 0.0269 | — | — | — | — | — | — | — | — | |
| Learning to ClusterExt. data=no2018.03 | 96.5 | 0.0851 | 0.0269 | — | — | — | — | — | — | — | — | |
| FCN-Instance2020.05 | 96.5 | 0.0851 | 0.0269 | — | — | — | — | — | — | — | — | |
| GANet-LFPS=632022.04 | 96.44 | 0.0263 | 0.0247 | — | — | 97.45 | — | — | — | — | — | |
| Baseline (Push + Pull)Post-processing=DBSCAN, Image size=1280x720, Hardware=NVIDIA V100 and Xeon Silver 41142020.08 | 96.42 | 0.0654 | 0.0195 | 6.62 | 498 | — | — | — | — | — | — | |
| LaneNet + H-NetInput resolution=512x256, Lane fitting=3rd-order polynomial, Embedding dimension=42018.02 | 96.4 | 0.078 | 0.0244 | — | — | — | — | — | — | — | — | |
| DavyNevenExt. data=N/A2018.03 | 96.4 | 0.2365 | 0.0276 | — | — | — | — | — | — | — | — | |
| LaneNet(+H-Net)2021.05 | 96.4 | 0.078 | 0.0244 | — | — | — | — | — | — | — | — | |
| EL-GAN2019.05 | 96.39 | 0.0412 | 0.0336 | — | — | — | — | — | — | — | — | |
| EL-GANBackbone=EL-GAN2019.08 | 96.39 | 0.0412 | 0.0336 | — | — | — | — | — | — | — | — | |
| EL-GAN2020.05 | 96.39 | 0.0412 | 0.0336 | — | — | — | — | — | — | — | — | |
| EL-GANRuntime(ms)=>100, Multiple=<1.3x2020.04 | 96.39 | — | — | — | — | — | — | — | — | — | — | |
| EL-GAN2021.05 | 96.39 | 0.0412 | 0.0336 | — | — | — | — | — | — | — | — | |
| EL-GAN2021.02 | 96.39 | 0.0412 | 0.0336 | — | — | — | — | — | — | — | — | |
| LaneNet2019.05 | 96.38 | 0.078 | 0.0244 | — | — | — | — | — | — | — | — | |
| LaneNetBackbone=LaneNet2019.08 | 96.38 | 0.078 | 0.0244 | — | — | — | — | — | — | — | — | |
| LaneNet2020.05 | 96.38 | 0.078 | 0.0244 | — | — | — | — | — | — | — | — | |
| LaneNetRuntime(ms)=19.0, Multiple=7.0x2020.04 | 96.38 | — | — | — | — | — | — | — | — | — | — | |
| LaneNetRuntime (ms)=19.02021.02 | 96.38 | 0.078 | 0.0244 | — | — | — | — | — | — | — | — | |
| LaneNet2022.03 | 96.38 | 0.078 | 0.0244 | — | — | — | — | — | — | — | — | |
| LaneNet2021.03 | 96.38 | 0.078 | 0.0244 | — | — | 94.8 | — | — | — | — | — | |
| PointLaneNetSource-code availability=unavailable, FPS=712020.10 | 96.34 | — | 0.0518 | — | — | 95.07 | 0.0467 | — | — | — | — |