3D Lane Detection Based on Projection-Consistent Reference Points and Intra- & Inter-lane Context

3D lane detection aims to identify lane categories and trends in 3D space, which is a vital and challenging task in autonomous driving. Existing methods introduce various priors to guide 3D lane prediction, which generally consist of a series of reference points for context aggregation. However, due to the misalignment between these reference points and the lanes, it is difficult to obtain complete and discriminative context for complex instances. In this paper, we are devoted to introducing 3D priors adaptive to lane appearances, which serve as references to aggregate the lane context. Specifically, we propose a projection-consistent reference generation strategy to keep the projected 3D reference points geometrically consistent with the corresponding lanes in images. In addition, a segmentation-lifting denoising strategy is designed to improve the ability of the model to map the lane segmentation into 3D space. To leverage more lane-related information, we propose a decoupled lane-context aggregation module by considering the perspectives of individual geometries and integrated layout, namely intra-lane and inter-lane context. Extensive experiments on the OpenLane dataset show that our approach outperforms previous methods and achieves the state-of-the-art performance. The code will be made publicly available.