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

Table 3

Quantitative results in F-measure on KITTI dataset for the main network variants evaluated.

Data aug.	BEV train	ResNet-101	4-step up.	F-measure
	✓			94.08%
				94.59%
✓				95.76%
✓			✓	95.80%
✓		✓		95.88%
✓	✓			96.06%
✓		✓	✓	96.09%
✓	✓	✓		96.13%
✓	✓	✓	✓	96.31%