High-Level Interpretation of Urban Road Maps Fusing Deep Learning-Based Pixelwise Scene Segmentation and Digital Navigation Maps

Figure 7

The qualitative results of the proposed model are coloured as follows: TP in green, FP in blue, and FN in red. The scenarios with strong illumination changes and challenging road textures are better detected in the model trained with data augmentation.

(a) Training without data augmentation

(b) Training with data augmentation