Monocular 3D lane detection for Autonomous Driving: Recent Achievements,
  Challenges, and Outlooks
Fulong Ma Weiqing Qi Guoyang Zhao Linwei Zheng Sheng Wang Ming Liu
3D lane detection plays a crucial role in autonomous driving by extracting
structural and traffic information from the road in 3D space to assist the
self-driving car in rational, safe, and comfortable path planning and motion
control. Due to the consideration of sensor costs and the advantages of visual
data in color information, in practical applications, 3D lane detection based
on monocular vision is one of the important research directions in the field of
autonomous driving, which has attracted more and more attention in both
industry and academia. Unfortunately, recent progress in visual perception
seems insufficient to develop completely reliable 3D lane detection algorithms,
which also hinders the development of vision-based fully autonomous
self-driving cars, i.e., achieving level 5 autonomous driving, driving like
human-controlled cars. This is one of the conclusions drawn from this review
paper: there is still a lot of room for improvement and significant
improvements are still needed in the 3D lane detection algorithm for autonomous
driving cars using visual sensors. Motivated by this, this review defines,
analyzes, and reviews the current achievements in the field of 3D lane
detection research, and the vast majority of the current progress relies
heavily on computationally complex deep learning models. In addition, this
review covers the 3D lane detection pipeline, investigates the performance of
state-of-the-art algorithms, analyzes the time complexity of cutting-edge
modeling choices, and highlights the main achievements and limitations of
current research efforts. The survey also includes a comprehensive discussion
of available 3D lane detection datasets and the challenges that researchers
have faced but have not yet resolved. Finally, our work outlines future
research directions and welcomes researchers and practitioners to enter this
exciting field.