Citation

Waheed, Ahtisham and Yin, Yunfie and Noor, Abu Fatema Mohammad Abdun and Ahasan, Md Imam and Goh, Kah Ong Michael and Mahmud, S. M. Hasan and Rashid, Umar (2026) Direction-Curvature Aware Feature Integration for Robust Lane Detection. Computers, Materials & Continua, 89 (1). pp. 1-10. ISSN 1546-2226

Text Direction-Curvature Aware Feature Integration for Robust Lane Detection.pdf - Published Version Restricted to Repository staff only Download (9MB)

Abstract

Robust lane detection is a fundamental perception task for autonomous driving and Advanced Driver Assistance Systems. However, it remains challenging in real-world environments due to degraded lane markings, complex road topologies, occlusions, and adverse illumination conditions. This work aims to improve lane detection robustness by explicitly modeling lane geometric properties while preserving end-to-end efficiency. We propose a direction-curvature aware lane detection framework that integrates a novel Direction-Curvature Aware (DCA) attention module into an anchor-based architecture. The DCA module enables tangent-aligned feature aggregation guided by learned direction fields and curvature-consistent attention. In addition, we introduce a direction-aware optimization objective termed Directional Lane IoU (DLIoU) to enforce directional consistency between predicted and ground-truth lanes during training. Extensive experiments on the CULane and TuSimple benchmarks demonstrate that the proposed method consistently outperforms state-of-the-art approaches, achieving notable improvements on CULane under challenging conditions including occlusion, strong curvature, shadows, and night-time scenes, and consistent gains on TuSimple, while maintaining competitive inference speed. These results confirm that explicitly incorporating direction and curvature information into both feature learning and optimization leads to more accurate and robust lane detection in complex driving environments

Item Type:	Article
Uncontrolled Keywords:	Deep learning, attention mechanism
Subjects:	Q Science > Q Science (General) > Q300-390 Cybernetics
Divisions:	Faculty of Information Science and Technology (FIST)
Depositing User:	Ms Rosnani Abd Wahab
Date Deposited:	03 Sep 2026 06:44
Last Modified:	03 Sep 2026 06:44
URII:	http://shdl.mmu.edu.my/id/eprint/16625

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