Hello,

About the lanes :

From what I see, there is detection/classification for the type of lane and then for each lane, a regression to predict the poly2d. For training, I would say compute a 2nd order polynomial from vertices and try to predict that.

Do you know a state of the art algorithm that would do that ? It’s a little bit like Yolo but instead of predicting the bounding box we predict the polynom coefficients