  A novel algorithm to detect road lanes in videos, called recursive video lane
detector (RVLD), is proposed in this paper, which propagates the state of a
current frame recursively to the next frame. RVLD consists of an intra-frame
lane detector (ILD) and a predictive lane detector (PLD). First, we design ILD
to localize lanes in a still frame. Second, we develop PLD to exploit the
information of the previous frame for lane detection in a current frame. To
this end, we estimate a motion field and warp the previous output to the
current frame. Using the warped information, we refine the feature map of the
current frame to detect lanes more reliably. Experimental results show that
RVLD outperforms existing detectors on video lane datasets. Our codes are
available at https://github.com/dongkwonjin/RVLD.
