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Bold numbers are the best results.
| Method | Backbone | GFLOPs |
|---|---|---|
| SCNN (Pan et al., 2018) | VGG16 | 328.4 |
| LaneAF (Abualsaud et al., 2021) | ERFNet | 22.2 |
| LaneAF (Abualsaud et al., 2021) | DLA-34 | 23.6 |
| RESA (Zheng et al., 2021) | Resnet34 | 41.0 |
| LaneATT (Tabelini et al., 2021a) | Resnet34 | 18.0 |
| CondLane (Liu et al., 2021a) | Resnet34 | 19.6 |
| Our method | Resnet34 | 21.5 |
