A Hybrid Vision-Map Method for Urban Road Detection

Table 5

Performance comparison of unary potentials trained with different combination of features.

Feature set	Image plane				Bird eye view
	UM	UMM	UU	All	UM	UMM	UU	All
Basic	91.25	89.20	85.92	88.73	86.35	85.88	77.07	82.99
Basic + shadow	91.43	89.32	86.19	88.92	86.83	86.40	77.17	83.35
Basic + context	92.76	90.44	88.25	90.43	89.02	86.03	79.09	84.60
Basic + map	91.49	92.03	88.42	90.61	87.76	89.30	80.49	85.76
Full set	92.59	93.17	89.69	91.78	88.94	89.86	81.36	86.63