1. A processor-implemented method for lane detection comprising, comprising: generating, via one or more hardware processors, an edge image corresponding to at least one image of a road having lane markings, the edge image comprising a pair of inbound edges corresponding to the lane markings; extracting, via the one or more hardware processors, a plurality of lane masks from a plurality of horizontal image strips of the at least one image, a lane mask of the plurality of lane masks in a horizontal image strip being indicative of a subset of the lane markings in the horizontal image strip, wherein the plurality of lane masks are extracted based on an adaptive thresholding of intensity of the subset of the lane markings in the plurality of horizontal image strips; selecting, via the one or more hardware processors, a plurality of valid lane masks from amongst the plurality of lane masks based at least on structure information and intensity information of the plurality of lane masks in the plurality of horizontal image strips; determining, via the one or more hardware processors, an overlap between the pair of inbound edges and the plurality of valid lane masks to identify a plurality of edge segments of the pair of inbound edges corresponding to the lane markings, wherein the plurality of edge segments of the pair of inbound edges comprises a curvature information, the curvature information of an edge segment being indicative of curvature of the edge segment with respect to the lane markings; and obtaining, via the one or more hardware processors, a set of valid edge segments of the pair of inbound edges based on the curvature information of the plurality of edge segments, wherein the set of valid edge segments facilitates in detecting the lane markings.