Automatically annotated lane markers using Lidar maps.

• Over 100,000 annotated images
• Annotations of over 100 meters
• Resolution of 1276 x 717 pixels

A SEGMENTATION CHALLENGE

Lane markers are tricky to annotate because of their median width of only 12 cm. At farther distances, the number of pixels gets very sparse and the markers start to blend with the asphalt in the camera image.

LANE APPROXIMATIONS

While pixel-level segmentation can be very useful for localization, some automated driving systems benefit from higher level representations such as splines, clothoids, or polynomials. This section of the dataset allows for evaluating existing and novel techniques.