A method of generating lane information using a neural network includes generating a lane probability map based on an input image, generating lane feature information and depth feature information by applying the lane probability map to a second neural network, generating depth distribution information by applying the depth feature information to a third neural network, generating spatial information based on the lane feature information and the depth distribution information, generating offset information including a displacement between a position of a lane and a reference line by applying the spatial information to a fourth neural network, and generating three-dimensional (3D) lane information using the offset information.