Cloud Update of Geodetic Normal Distribution Map Based on Crowd-Sourcing Detection against Road Environment Changes

Table 3

Confusion matrices about nonupdate, change detection based on single driving, and map update based on crowd-sourced data in simulations.

	Base map						Recall (%)	Map change detection					Recall (%)	Map update					Recall (%)
Truth		Normal	New	Modified	Deleted	Empty		Normal	New	Modified	Deleted	Empty		Normal	New	Modified	Deleted	Empty
	Normal	475	0	0	0	0	100	474	0	0	1	0	99.78	475	0	0	0	00	100
	New	0	0	0	0	80	0	0	74	0	0	6	92.50	0	77	0	0	3	96.25
	Modified	17	0	0	0	0	0	0	0	17	0	0	100	0	0	17	0	0	100
	Deleted	135	0	0	0	0	0	18	0	3	114	0	84.44	0	0	0	135	0	100
	Empty	0	0	0	0	16219	100	0	178	0	0	16041	98.90	0	0	0	0	16219	100
Precision (%)		75.75	0	0	0	99.50	F1-score 37.36	96.34	29.37	85.0	99.13	99.96	F1-score 88.05	100	100	100	100	99.98	F1-score 99.62