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Specifically, we systematically analyze lane geometric structure priors and introduce Lane Geometry Supervision (LGS), which relies solely on 2D lane labels. Extensive experiments on both synthetic and real-world datasets demonstrate that our method achieves performance comparable to fully supervised approaches using direct 3D labels. Moreover, incorporating LGS as a regularization term further enhances the performance of existing fully supervised methods. Finally, we show that LGS enables a label-efficient training methodology for 3D monocular lane detection, effectively utilizing both scarce yet complete 3D lane labels and abundant but incomplete 2D lane labels. <\/jats:p>","DOI":"10.1142\/s0218001425550079","type":"journal-article","created":{"date-parts":[[2025,3,28]],"date-time":"2025-03-28T07:51:11Z","timestamp":1743148271000},"source":"Crossref","is-referenced-by-count":0,"title":["Toward Generalized 3D Lane Representation with Lane Geometry Supervision for Autonomous Driving"],"prefix":"10.1142","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7879-7468","authenticated-orcid":false,"given":"Wenbo","family":"Ding","sequence":"first","affiliation":[{"name":"Shanghai Center for Mathematical Sciences, Fudan University, No. 220 Handan Road, Shanghai 200433, China"},{"name":"AI Lab, SAIC Motor, No. 588 Tashan Road, Shanghai 201800, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1880-6240","authenticated-orcid":false,"given":"Wenlian","family":"Lu","sequence":"additional","affiliation":[{"name":"Shanghai Center for Mathematical Sciences, Fudan University, No. 220 Handan Road, Shanghai 200433, China"},{"name":"School of Mathematical Sciences, Fudan University, No. 220 Handan Road, Shanghai 200433, China"},{"name":"Shanghai Key Laboratory for Contemporary Applied Mathematics, Fudan University, No. 220 Handan Road, Shanghai 200433, China"},{"name":"Key Laboratory of Mathematics for Nonlinear Science, Fudan University, No. 220 Handan Road, Shanghai 200433, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2025,5,13]]},"reference":[{"key":"S0218001425550079BIB001","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161184"},{"key":"S0218001425550079BIB002","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161160"},{"key":"S0218001425550079BIB003","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-19839-7_32"},{"key":"S0218001425550079BIB004","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2019.8813778"},{"key":"S0218001425550079BIB006","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00301"},{"key":"S0218001425550079BIB007","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58589-1_40"},{"key":"S0218001425550079BIB008","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.01674"},{"key":"S0218001425550079BIB009","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW.2017.158"},{"key":"S0218001425550079BIB011","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3088488"},{"key":"S0218001425550079BIB012","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW56347.2022.00483"},{"key":"S0218001425550079BIB013","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2023.3305015"},{"key":"S0218001425550079BIB014","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2019.2890870"},{"key":"S0218001425550079BIB015","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.00375"},{"issue":"2","key":"S0218001425550079BIB016","first-page":"1765","volume":"36","author":"Liu R.","year":"2022","journal-title":"Proc. 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