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

Table 5

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

	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	1999	0	0	0	0	100	1905	0	43	51	0	95.29	1998	0	0	1	0	99.95
	New	0	0	0	0	345	0	0	312	0	0	33	90.43	0	305	0	0	40	88.40
	Modified	20	0	0	0	0	0	3	0	17	0	0	85.00	3	0	17	0	0	85.00
	Deleted	291	0	0	0	0	0	22	0	7	262	0	90.03	25	0	4	262	0	90.03
	Empty	0	0	0	0	38507	100	0	610	0	0	37897	98.41	0	51	0	0	38490	99.86
Precision (%)		86.53	0	0	0	99.11	F1-score 38.51	98.70	35.92	25.37	83.70	99.99	F1-score 78.34	98.61	85.67	80.95	99.61	99.89	F1-score 92.80