  Advanced Driver-Assistance Systems (ADAS) have successfully integrated
learning-based techniques into vehicle perception and decision-making. However,
their application in 3D lane detection for effective driving environment
perception is hindered by the lack of comprehensive LiDAR datasets. The sparse
nature of LiDAR point cloud data prevents an efficient manual annotation
process. To solve this problem, we present LiSV-3DLane, a large-scale 3D lane
dataset that comprises 20k frames of surround-view LiDAR point clouds with
enriched semantic annotation. Unlike existing datasets confined to a frontal
perspective, LiSV-3DLane provides a full 360-degree spatial panorama around the
ego vehicle, capturing complex lane patterns in both urban and highway
environments. We leverage the geometric traits of lane lines and the intrinsic
spatial attributes of LiDAR data to design a simple yet effective automatic
annotation pipeline for generating finer lane labels. To propel future
research, we propose a novel LiDAR-based 3D lane detection model, LiLaDet,
incorporating the spatial geometry learning of the LiDAR point cloud into
Bird's Eye View (BEV) based lane identification. Experimental results indicate
that LiLaDet outperforms existing camera- and LiDAR-based approaches in the 3D
lane detection task on the K-Lane dataset and our LiSV-3DLane.
