METHOD AND DEVICE WITH LANE DETECTION

A lane detection method and device is disclosed, where the method includes determining main trajectory information based on first trajectory information of one or more dynamic objects around a vehicle and second trajectory information of a surrounding environment of the vehicle, determining one or more candidate lane templates from among lane templates based on the main trajectory information, adjusting the one or more candidate lane templates to generate adjusted lane templates, determining an overlap between a lane feature obtained from an input image and each of the adjusted lane templates through overlapping the lane feature with each of the adjusted lane templates, and determining, as the lane, an overlapping lane template in which an overlap of the lane feature with an adjusted lane template has a greatest similarity.