CurveLane-NAS: Unifying Lane-Sensitive Architecture Search and Adaptive Point Blending

Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 12360)


We address the curve lane detection problem which poses more realistic challenges than conventional lane detection for better facilitating modern assisted/autonomous driving systems. Current hand-designed lane detection methods are not robust enough to capture the curve lanes especially the remote parts due to the lack of modeling both long-range contextual information and detailed curve trajectory. In this paper, we propose a novel lane-sensitive architecture search framework named CurveLane-NAS to automatically capture both long-ranged coherent and accurate short-range curve information. It consists of three search modules: a) a feature fusion search module to find a better fusion of the local and global context for multi-level hierarchy features; b) an elastic backbone search module to explore an efficient feature extractor with good semantics and latency; c) an adaptive point blending module to search a multi-level post-processing refinement strategy to combine multi-scale head prediction. Furthermore, we also steer forward to release a more challenging benchmark named CurveLanes for addressing the most difficult curve lanes. It consists of 150K images with 680K labels (The new dataset can be downloaded at Experiments on the new CurveLanes show that the SOTA lane detection methods suffer substantial performance drop while our model can still reach an 80+% F1-score. Extensive experiments on traditional lane benchmarks such as CULane also demonstrate the superiority of our CurveLane-NAS, e.g. achieving a new SOTA 74.8% F1-score on CULane.


Lane detection Autonomous driving Benchmark dataset Neural architecture search Curve lane 

Supplementary material

504470_1_En_41_MOESM1_ESM.pdf (18.4 mb)
Supplementary material 1 (pdf 18886 KB)


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Huawei Noah’s Ark LabBeijingChina
  2. 2.Sun Yat-sen UniversityGuangzhouChina

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